Difference between revisions of "MC-Basic:CASTPOINT"
(Added an entry of CASTPOINT function.) |
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<pre> | <pre> | ||
GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ) | GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ) | ||
| + | |||
? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR) | ? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR) | ||
</pre> | </pre> | ||
Revision as of 10:28, 5 November 2012
Creates and returns a generic point using the robot type given by the second, long-type argument, whereas point type (i.e., joint or location) and coordinate values are taken from the first, list-of-coordinates argument.
Syntax
<point_variable> = castpoint (<list_of_coordinates>, <long_expression>)
Availability
Version 4.9.11 and up
Type
Long
Scope
Configuration, Task, Terminal
Limitations
The robot type given in the second argument must match the number of coordinates of the list-of-coordinates argument.
Examples
GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ)
? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR)