Difference between revisions of "Using Points in C Functions"
| Line 1: | Line 1: | ||
| − | Both | + | Both non-generic points (bound to a fixed robot-type) and generic points can be passed as arguments to C functions. In addition, both types of points can also serve as C function parameters, differing in PROTO.PRO prototypes, but shareing identical C prototypes. |
== PROTO.PRO PROTOTYPES FOR FIXED ROBOT-TYPE POINTS == | == PROTO.PRO PROTOTYPES FOR FIXED ROBOT-TYPE POINTS == | ||
| Line 10: | Line 10: | ||
== PROTO.PRO PROTOTYPES FOR GENERIC POINTS == | == PROTO.PRO PROTOTYPES FOR GENERIC POINTS == | ||
<pre> | <pre> | ||
| − | IMPORT_C | + | IMPORT_C CFUNC_PNT1(ByVal As Generic Joint) As Generic Joint |
| − | IMPORT_C | + | IMPORT_C CFUNC_PNT2(As Generic Location, As Generic Location[*]) |
| + | </pre> | ||
| + | |||
| + | == C PROTOTYPES FOR BOTH TYPES OF POINTS == | ||
| + | <pre> | ||
| + | SYS_POINT* CFUNC_PNT1(SYS_POINT* PNT1) | ||
| + | void CFUNC_PNT2(SYS_POINT** PNT1, SYS_POINT** PNTARR1) | ||
</pre> | </pre> | ||
Revision as of 13:55, 16 December 2012
Both non-generic points (bound to a fixed robot-type) and generic points can be passed as arguments to C functions. In addition, both types of points can also serve as C function parameters, differing in PROTO.PRO prototypes, but shareing identical C prototypes.
PROTO.PRO PROTOTYPES FOR FIXED ROBOT-TYPE POINTS
IMPORT_C CFUNC_PNT1(ByVal As Joint Of XYZ) As Joint Of XYZ IMPORT_C CFUNC_PNT2(As Location Of XYZR, As Location[*] Of XYZR)
PROTO.PRO PROTOTYPES FOR GENERIC POINTS
IMPORT_C CFUNC_PNT1(ByVal As Generic Joint) As Generic Joint IMPORT_C CFUNC_PNT2(As Generic Location, As Generic Location[*])
C PROTOTYPES FOR BOTH TYPES OF POINTS
SYS_POINT* CFUNC_PNT1(SYS_POINT* PNT1) void CFUNC_PNT2(SYS_POINT** PNT1, SYS_POINT** PNTARR1)