ISMOrientationKinematics2.GetPositionFromOrientation2 (METH) ¶ METHOD GetPositionFromOrientation2 : SMC_ERROR For a given orientation (mR) and information about the orientations that are generated by the corresponding position kinematics (oriInfo), this method computes the vector from the origin of this trafo to the TCP Returns whether the computation was successful. InOut: Scope Name Type Comment Return GetPositionFromOrientation2 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics Inout v SMC_Vector3D Vector pointing from the origin of the trafo to the TCP.
ISMOrientationKinematics2.IsCompatibleWithPosKin (METH) ¶ METHOD IsCompatibleWithPosKin : BOOL Given information about the orientations that the position kinematics may generate, this method decides whether it is possible to successfully execute ISMOrientationKinematics2.GetPositionFromOrientation2 or, if implemented, ISMOrientationKinematics3.GetPositionFromOrientation3 . InOut: Scope Name Type Comment Return IsCompatibleWithPosKin BOOL Inout Const oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
ISMOrientationKinematics3 (ITF) ¶ INTERFACE ISMOrientationKinematics3 EXTENDS ISMOrientationKinematics2 Represents a kinematic transformation that can transform from position/orientation of the TCP to axis positions and vice versa. It can be combinded with ISMPositionKinematics . Properties: NumAxes , inherited from MC_KIN_REF_SM3 Methods: GetPositionFromOrientation3 AxesToCartesian , inherited from MC_KIN_REF_SM3 CartesianToAxes , inherited from MC_KIN_REF_SM3 GetPositionFromOrientation , inherited from ISMOrientationKinematics GetPositionFromOrientation2 , inherited from ISMOrientationKinematics2 IsCompatibleWithPosKin , inherited from ISMOrientationKinematics2 Structure: GetPositionFromOrientation3 (Method)
ISMOrientationKinematics3.GetPositionFromOrientation3 (METH) ¶ METHOD GetPositionFromOrientation3 : SMC_ERROR For a given orientation (mR) and information about the orientations that are generated by the corresponding position kinematics (oriInfo), this method computes the vector from the origin of this trafo to the TCP Returns whether the computation was successful. InOut: Scope Name Type Comment Return GetPositionFromOrientation3 SMC_ERROR Inout Const mR SMC_Matrix3 Matrix3 describing the orientation in the MCS aRef AXISPOS_REF The reference position of all axes. See MC_KIN_REF_SM3.CartesianToAxes . cd CONFIGDATA The serialized configuration data. See MC_KIN_REF_SM3.CartesianToAxes . oriInfo OrientationSpace Information about the possible orientations in the MCS generated by the position kinematics Inout v SMC_Vector3D MCS vector pointing from the origin of the trafo to the TCP.
Kin_Bipod_Rotary.GetAxisProperties (METH) ¶ METHOD GetAxisProperties InOut: Scope Name Type Inout props Axis_Properties Input udiAxis UDINT
Kin_Bipod_Rotary.GetKinematicsName (METH) ¶ METHOD GetKinematicsName : STRING(255) InOut: Scope Name Type Return GetKinematicsName STRING(255)
Kin_Bipod_Rotary.GetOrientationImage (METH) ¶ METHOD GetOrientationImage InOut: Scope Name Type Comment Inout oriInfo OrientationSpace Information about the possible orientations generated by the position kinematics
Kin_Bipod_Rotary.IsSingularity (METH) ¶ METHOD IsSingularity : BOOL InOut: Scope Name Type Return IsSingularity BOOL Inout Const a AXISPOS_REF
Kin_Bipod_Rotary.NumAxes (PROP) ¶ PROPERTY NumAxes : UDINT
Kin_Bipod_Rotary.ProjectPosition (METH) ¶ METHOD ProjectPosition InOut: Scope Name Type Inout vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D