MC-Basic:CASTJOINT

Creates and returns a generic joint type of point, using the robot type given by the second, long-type argument, while the coordinate values are taken from the first argument. If the first argument is scalar, the resulting point will be composed of identical coordinates. Using an array as the 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

Since Version 4.9.11

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)

See Also

• CASTPOINT

• CASTLOCATION

• LIST OF ROBOT TYPES