ISMOrientationKinematicsWithOriImage (ITF)¶

INTERFACE ISMOrientationKinematicsWithOriImage

This interface computes the actual flange orientation from the programmed / desired flange orientation of an orientation kinematics.

For orientation kinematics with three degrees of freedom, there is no difference between programmed and actual flange orientation.

This interface computes all the possible orientations that this orientation kinematics may generate, given the programmed orienation. It is required to support different tools (see SMC_GroupSetTool). Only when the actual flange orientation can be computed, the tool offset can be correctly compensated for.

See ISMOrientationKinematicsWithOriImage2 for an extended interface which should be implemented instead.

Methods:

GetOrientationImage

Structure:

GetOrientationImage (Method)