Difference between revisions of "MC-Basic:CASTJOINT"
(Addition of links) |
|||
| Line 46: | Line 46: | ||
|SEE ALSO= | |SEE ALSO= | ||
| + | * [[Axystems:MC-Basic:CASTPOINT|CASTPOINT]] | ||
| + | |||
| + | * [[Axystems:MC-Basic:CASTLOCATION|CASTLOCATION]] | ||
| + | |||
| + | * [[Axystems:Point_Type_List|LIST OF ROBOT TYPES]] | ||
}} | }} | ||
Revision as of 14:24, 7 November 2012
Creates and returns a generic joint-type point, using the robot type given by the second, long-type argument, whereas coordinate values are taken from the first argument. If the first argument is a scalar, the resulting point will be composed of identical coordinates. Using an array as first argument will result in a point composed of the first "number-of-coordinates" (determined by the robot type) array elements.
Syntax
<joint_variable> = castjoint (<long_scalar_expression>, <long_expression>)
<joint_variable> = castjoint (<double_scalar_expression>, <long_expression>)
<joint_variable> = castjoint (<long_array>, <long_expression>)
<joint_variable> = castjoint (<double_array>, <long_expression>)
Availability
Version 4.9.11 and up.
Type
Joint
Scope
Configuration, Task, Terminal
Limitations
Only a single-dimension array can be used as argument.
Number of array elements must be equal or greater than number of coordinates.
Examples
GenJoint = CASTJOINT(1, TYPE_XYZ) ? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR)