Difference between revisions of "MC-Basic:CASTJOINT"
(CASTJOINT - needs examples.) |
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|AVAILABILITY= | |AVAILABILITY= | ||
| − | Version 4.9.11 and up | + | Version 4.9.11 and up. |
|DESCRIPTION= | |DESCRIPTION= | ||
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. | 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= | ||
| − | + | Joint | |
| − | |||
|RANGE= | |RANGE= | ||
| Line 36: | Line 35: | ||
|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= | |EXAMPLE= | ||
<pre> | <pre> | ||
| − | GenJoint = | + | GenJoint = CASTJOINT(1, TYPE_XYZ) |
| − | ? | + | ? CASTJOINT(ArrayOf4Doubles, TYPE_XYZR) |
</pre> | </pre> | ||
Revision as of 12:51, 6 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)