6.2 Functions
6.2.1 PoseAdd - Adds the translation portions of pose data
Usage
PoseAdd
is a function that requires two or three
pose
data arguments and returns
the sum of the translation portions in
pose
form.
The returned
pose
data will have the quaternions set to [1,0,0,0].
Basic examples
peSUM:=PoseAdd (peFIRST,peSECOND);
peSUM.trans
is set equal to
peFIRST.trans
+
peSECOND.trans
. The rotational
portion of the
peSUM
is set to [1,0,0,0] by default.
Return value
Data type:
pose
The displacement frame.
Arguments
PoseAdd (Pose1 Pose2 [\Pose3])
Pose1
Data type:
pose
Pose
data to be added
Pose2
Data type:
pose
Pose
data to be added
[\Pose3]
Data type:
pose
Pose
data to be added
Syntax
PoseAdd '('
[ Pose1 ':=' ] < expression (IN) of pose > ','
[ Pose2 ':=' ] < expression (IN) of pose > ','
[' \'Pose3 ':=' < expression (IN) of pose > ] ')'
Related information
Described in:
PDispAdd - Add program displacements on page 98
PDispAdd
Technical reference manual - RAPID Instructions, Functions and Data
types
Data type
pose
Application manual - SmarTac
99
3HAC024845-001 Revision: A
© Copyright 2004-2016 ABB. All rights reserved.
6 RAPID reference
6.2.1 PoseAdd - Adds the translation portions of pose data
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