Difference between revisions of "MC-Basic:CASTJOINT"
(CASTJOINT) |
(CASTJOINT - needs examples.) |
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| − | {{MC-Basic | + | <sup></sup>{{MC-Basic |
|SHORT FORM= | |SHORT FORM= | ||
|SYNTAX= | |SYNTAX= | ||
| − | <''joint_variable''> = castjoint (<'' | + | <''joint_variable''> = castjoint (<''long_scalar_expression''>, <''long_expression''>) |
| − | <''joint_variable''> = castjoint (<'' | + | <''joint_variable''> = castjoint (<''double_scalar_expression''>, <''long_expression''>) |
<''joint_variable''> = castjoint (<''long_array''>, <''long_expression''>) | <''joint_variable''> = castjoint (<''long_array''>, <''long_expression''>) | ||
| Line 17: | Line 17: | ||
Version 4.9.11 and up | Version 4.9.11 and up | ||
|DESCRIPTION= | |DESCRIPTION= | ||
| − | Creates and returns a generic point using the robot type given by the second, long-type argument, whereas | + | 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. |
|TYPE= | |TYPE= | ||
| Line 35: | Line 35: | ||
|LIMITATIONS= | |LIMITATIONS= | ||
| − | + | Only a single-dimension array can be used as argument. | |
|EXAMPLE= | |EXAMPLE= | ||
Revision as of 14:02, 5 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
Long
Scope
Configuration, Task, Terminal
Limitations
Only a single-dimension array can be used as argument.
Examples
GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ)
? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR)