MC-Basic:CASTJOINT

Creates and returns a generic point using the robot type given by the second, long-type argument, whereas point type (i.e., joint or location) and coordinate values are taken from the first, list-of-coordinates argument.

Syntax

<joint_variable> = castjoint (<long_expression>, <long_expression>)

<joint_variable> = castjoint (<double_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

Long

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)