MC-Basic:TOCART
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Converts a joint point to a location point The Direct Kinematics function implementation. Input parameters:
<Robot> = name of the group for which the direct kinematics is computed, when a WITH command is executed, this argument is not needed (the comma can also be omitted).
<joint> = joint coordinates of the point to be translated into Cartesian coordinates. The type of the joint variable must be compatible with the robot type.
User: Application developer
Return value: Location point
Syntax
<location_variable>=ToCart (<Robot>, <joint>)
Availability
Since Version 3.7.x
Scope
Task,Terminal
Limitations
Not in Configuration context
The location variable and the joint parameter must have a group type identical to the group parameter, or have the same number of coordinates.
Errors: N/A
Examples
? ToCart (G1, {1,2,3})
? ToCart (G1, G1.Pfb)
L1 = ToCart (SCARA, J1)