Constants (GVL)ΒΆ
- 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
STRUCT(a0 := 0, a1 := 0, a2 := 0, a3 := 0, a4 := 0, a5 := 0)