MC-Basic:TOCART

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Converts a joint point to a location point  The Direct Kinematics function implementation. Input parameters:

<Robot> = name of the group for which the direct kinematics is computed, when a WITH command is executed, this argument is not needed (the comma can also be omitted).

<joint> = joint coordinates of the point to be translated into Cartesian coordinates. The type of the joint variable must be compatible with the robot type.

User:                    Application developer

Return value:      Location point

Syntax

<location_variable>=ToCart (<Robot>, <joint>)

Availability

Since Version 3.7.x

Scope

Task,Terminal

Limitations

Not in Configuration context

The location variable and the joint parameter must have a group type identical to the group parameter, or have the same number of coordinates.

Errors:                 N/A

Examples

? ToCart (G1, {1,2,3})

? ToCart (G1, G1.Pfb)

L1 = ToCart (SCARA, J1)

See Also

• TOJOINT