Difference between revisions of "MC-Basic:CASTJOINT"
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Version 4.9.11 and up. | Version 4.9.11 and up. | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Creates and returns a generic joint | + | Creates and returns a generic joint type of point, using the robot type given by the second, long-type argument, while the coordinate values are taken from the first argument. If the first argument is scalar, the resulting point will be composed of identical coordinates. Using an array as the first argument will result in a point composed of the first "number-of-coordinates" (determined by the robot type) array elements. |
|TYPE= | |TYPE= | ||
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|LIMITATIONS= | |LIMITATIONS= | ||
| − | Only a single-dimension array can be used as argument. | + | *Only a single-dimension array can be used as argument. |
| + | *Number of array elements must be equal or greater than number of coordinates. | ||
| − | + | |EXAMPLE= | |
| − | |||
| − | |||
GenJoint = CASTJOINT(1, TYPE_XYZ) | GenJoint = CASTJOINT(1, TYPE_XYZ) | ||
? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR) | ? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR) | ||
| − | + | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 11:27, 20 March 2014
Creates and returns a generic joint type of point, using the robot type given by the second, long-type argument, while the coordinate values are taken from the first argument. If the first argument is scalar, the resulting point will be composed of identical coordinates. Using an array as the 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)