ProjectRotation1dof (FUN)ΒΆ

FUNCTION ProjectRotation1dof : SMC_Error

Given an arbitrary orientation mR, and a desired axis vDesiredAxis, this function computes a matrix with R * (0,0,1) = vDesiredAxis that is closest to mR. May return an error only if mR is not a rotation matrix.

InOut:

Scope

Name

Type

Comment

Inout

mProjected

SMC_Matrix3

Rotation Matrix after Projection

Inout Const

mR

SMC_Matrix3

Programmed orientation of the TCP

vDesiredAxis

SMC_VECTOR3D

DesiredAxis

Return

ProjectRotation1dof

SMC_Error

Output

c_deg

LREAL