Difference between revisions of "MC-Basic:CASTPOINT"
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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, | + | Creates and returns a generic point using the robot type given by the second, long-type argument, while the point type (i.e., joint or location) and coordinate values are taken from the first, list-of-coordinates argument. |
|TYPE= | |TYPE= | ||
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|EXAMPLE= | |EXAMPLE= | ||
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GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ) | GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ) | ||
? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR) | ? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR) | ||
| − | + | ||
|SEE ALSO= | |SEE ALSO= | ||
Revision as of 11:28, 20 March 2014
Creates and returns a generic point using the robot type given by the second, long-type argument, while the point type (i.e., joint or location) and coordinate values are taken from the first, list-of-coordinates argument.
Syntax
<point_variable> = castpoint (<list_of_coordinates>, <long_expression>)
Availability
Version 4.9.11 and up.
Type
Joint or Location
Scope
Configuration, Task, Terminal
Limitations
The robot type given in the second argument must match the number of coordinates of the list-of-coordinates argument.
Examples
GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ)
? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR)