MC-Basic:CASTJOINT

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

Version 4.9.11 and up

Type

Long

Scope

Configuration, Task, Terminal

Limitations

Only a single-dimension array can be used as argument.

Examples

GenJoint = CASTPOINT({0.0, 10.0, 20.0}, TYPE_XYZ)

? CASTPOINT(#{0.0, 0.0, 0.0, 1.0}, TYPE_XYZR)