ISMOrientationKinematicsWithOriImage2.GetOrientationImageTotal (METH)

METHOD GetOrientationImageTotal : SMC_ERROR

Returns the space of achievable orientations of the orientation kinematics. In contrast to GetOrientationImageWithOri, this method returns the orientation image without knowledge of a specific programmed orientation. Thus, it is neccessarily less specific. For example, for Kin_Wrist2, this method will return dof=3, while GetOrientationImageWithOri returns dof=1.

InOut:

Scope

Name

Type

Comment

Return

GetOrientationImageTotal

SMC_ERROR

Inout

oriInfo

OrientationSpace

Information about the possible orientations generated by the orientation kinematics. Always relative to the base coordinate system of the kinematics.

Inout Const

oriInfoBase

OrientationSpace

The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)