Difference between revisions of "MC-Basic:robot.ORIENTATIONCOMPLEMENT"
| Line 12: | Line 12: | ||
* Positive direction in joint space ↔ Negative direction in joint space | * Positive direction in joint space ↔ Negative direction in joint space | ||
| − | {{Note/Important|The action of is done AFTER the orientation direction is determined using the ORIENTATIONFOLLWING flag}} | + | {{Note/Important|The action of is done '''AFTER''' the orientation direction is determined using the '''ORIENTATIONFOLLWING''' flag}} |
|TYPE= long | |TYPE= long | ||
Revision as of 10:52, 24 October 2011
If set causes system to look for the alternative solution if the stated ofollow goes beyond position limits. The alternative solution is fully determined as a complementary of the selected one:
- Longer path in world space ↔ Shorter path in world space
- Longer path in joint space ↔ Shorter path in joint space
- Positive direction in world space ↔ Negative direction in world space
- Positive direction in joint space ↔ Negative direction in joint space
 | IMPORTANT |
| The action of is done AFTER the orientation direction is determined using the ORIENTATIONFOLLWING flag |
Short form
OCOMPLEMENT
Syntax
<robot>.OCOMPLEMENT = <number>
Availability
4.7.10 and up
Type
long
Range
0/1
Units
none
Default
0
Scope
Task, Terminal
Limitations
Only for robots, Modal/Nodal
