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