GetFlangeOriImg (FUN) ¶ FUNCTION GetFlangeOriImg : SMC_Error Given the orientation image of a kinematics, this function returns the final flange orientation image. Note: For coupled kinematics, the method GetFlangeOrientationImage is used to get the combined orientation image which further uses this function to obtain the final flange orientation image. InOut: Scope Name Type Return GetFlangeOriImg SMC_Error Inout oriKinOut OrientationSpace Inout Const oriKinIn OrientationSpace mR SMC_Matrix3 Input bActive BOOL
GlobalConstants ¶ Constants (GVL)
Constants (GVL) ¶ InOut: Scope Name Type Initial Comment Constant gc_Vector3D_Zero SMC_Vector3D STRUCT(dX := 0, dY := 0, dZ := 0) The zero vector. gc_Matrix3_Identity SMC_Matrix3 STRUCT(aElems := [1, 0, 0, 0, 1, 0, 0, 0, 1]) The 3x3 identity matrix. gc_Frame_Identity SMC_Frame STRUCT(mR := gc_Matrix3_Identity, vT := gc_Vector3D_Zero) The identity frame, that is a frame that corresponds to zero translation and zero rotation. gciMaxConfigData INT 15 The maximum length (number of bytes) of serialized kinematic configurations minus 1. gc_EPS_SCARA_Singularity LREAL 0.0625 If a SCARA axis is closer to a singular configuration than this value, the transformation is assumed singular. This value is chosen so that the inverse transformation of the scara is numerically well behaved in non-singular settings. gc_AxisPos_Zero AXISPOS_REF STRUCT(a0 := 0, a1 := 0, a2 := 0, a3 := 0, a4 := 0, a5 := 0)
Interfaces ¶ ISMCoupledKinematics (Interface) GetPosAndToolKinematics (Method) ISMCoupledKinematics2 (Interface) JoinAxes (Method) JoinConfig (Method) SplitAxes (Method) SplitConfig (Method) ISMCoupledKinematics3 (Interface) GetAxisMapping (Method) ISMCoupledKinematics4 (Interface) GetAxisMapping2 (Method) ISMKinPeriodHandling (Interface) GetPeriods (Method) ISMKinematicAxisSettings (Interface) AxisSettings (Method) ISMKinematicWithConfigurations (Interface) GetConfigurationDataSize (Method) GetDefaultConfigurationData (Method) ISMKinematicWithConfigurations2 (Interface) CPConnectible (Method) ISMKinematicWithConfigurations3 (Interface) ActivateAutomaticRotaryPeriods (Method) ISMKinematicWithConfigurations4 (Interface) IsConfigSingular (Method) ISMKinematicWithInfo (Interface) GetAxisProperties (Method) IsSingularity (Method) ISMKinematicWithInfo2 (Interface) GetKinematicsName (Method) ISMKinematicWithInitialization (Interface) Initialize (Method) IsInitialized (Method) ISMKinematicsWithOrientationImage (Interface) GetFlangeOrientationImage (Method) ISMKinematicsWithOrientationImage2 (Interface) GetFlangeOrientationImageTotal (Method) GetFlangeOrientationImageWithOri (Method) ISMOrientationKinematics (Interface) GetPositionFromOrientation (Method) ISMOrientationKinematics2 (Interface) GetPositionFromOrientation2 (Method) IsCompatibleWithPosKin (Method) ISMOrientationKinematics3 (Interface) GetPositionFromOrientation3 (Method) ISMOrientationKinematicsWithOriImage (Interface) GetOrientationImage (Method) ISMOrientationKinematicsWithOriImage2 (Interface) GetOrientationImageTotal (Method) GetOrientationImageWithOri (Method) ISMPositionKinematics (Interface) AxesToOrientation (Method) ISMPositionKinematics2 (Interface) GetOrientationImage (Method) ISMPositionKinematics_Offset (Interface) CartesianToAxes_Offset (Method) ISMPositionKinematics_Offset2 (Interface) AxesToConfiguration_Offset (Method) ISMToolKinematics (Interface) ISMToolKinematics2 (Interface) MC_KIN_REF_SM3 (Interface) AxesToCartesian (Method) CartesianToAxes (Method) NumAxes (Property)
ISMCoupledKinematics (ITF) ¶ INTERFACE ISMCoupledKinematics EXTENDS MC_KIN_REF_SM3 A kinematic transformation that is built from a position and orientation kinematics. See ISMPositionKinematics and ISMOrientationKinematics . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetPosAndToolKinematics AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 Structure: GetPosAndToolKinematics (Method)
ISMCoupledKinematics.GetPosAndToolKinematics (METH) ¶ METHOD GetPosAndToolKinematics Returns the two kinematics that the coupled kinematics is based on. InOut: Scope Name Type Comment Output kinPos ISMPositionKinematics Position kinematics kinTool ISMOrientationKinematics Orientation kinematics
ISMCoupledKinematics2 (ITF) ¶ INTERFACE ISMCoupledKinematics2 EXTENDS ISMCoupledKinematics Additional interface for coupled kinematics that allows to split the combined axes to position and orientation axes and to combine them later on. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: JoinAxes JoinConfig SplitAxes SplitConfig AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPosAndToolKinematics , inherited from ISMCoupledKinematics Structure: JoinAxes (Method) JoinConfig (Method) SplitAxes (Method) SplitConfig (Method)
ISMCoupledKinematics2.JoinAxes (METH) ¶ METHOD JoinAxes : BOOL Joins the axes of the position and orientation kinematics. InOut: Scope Name Type Comment Return JoinAxes BOOL Inout a AXISPOS_REF The combined axes Inout Const a1 AXISPOS_REF The axes of the position kinematics a2 AXISPOS_REF The axes of the orientation kinematics
ISMKinematicWithConfigurations3.ActivateAutomaticRotaryPeriods (METH) ¶ METHOD ActivateAutomaticRotaryPeriods Returns a new kinematic configuration that equals the given configuration cdSrc , except that for all rotary axes, automatic period selection is turned on. InOut: Scope Name Type Comment Inout cdDst CONFIGDATA Out: the resulting configuration with automatic period selection turned on. Inout Const cdSrc CONFIGDATA In: the configuration for which the automatic period selection is to be turned on. ( cdSrc is not modified.)
ISMKinematicWithConfigurations4 (ITF) ¶ INTERFACE ISMKinematicWithConfigurations4 EXTENDS ISMKinematicWithConfigurations3 Extension interface of ISMKinematicWithConfigurations3 Should be implemented for all kinematics that singular configurations. Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: IsConfigSingular ActivateAutomaticRotaryPeriods , inherited from ISMKinematicWithConfigurations3 AxesToCartesian , inherited from MC_KIN_REF_SM3 CPConnectible , inherited from ISMKinematicWithConfigurations2 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetConfigurationDataSize , inherited from ISMKinematicWithConfigurations GetDefaultConfigurationData , inherited from ISMKinematicWithConfigurations Structure: IsConfigSingular (Method)