ISMOrientationKinematics3.GetPositionFromOrientation3 (METH)ΒΆ

METHOD GetPositionFromOrientation3 : SMC_ERROR

For a given orientation (mR) and information about the orientations that are generated by the corresponding position kinematics (oriInfo), this method computes the vector from the origin of this trafo to the TCP Returns whether the computation was successful.

InOut:

Scope

Name

Type

Comment

Return

GetPositionFromOrientation3

SMC_ERROR

Inout Const

mR

SMC_Matrix3

Matrix3 describing the orientation in the MCS

aRef

AXISPOS_REF

The reference position of all axes. See MC_KIN_REF_SM3.CartesianToAxes.

cd

CONFIGDATA

The serialized configuration data. See MC_KIN_REF_SM3.CartesianToAxes.

oriInfo

OrientationSpace

Information about the possible orientations in the MCS generated by the position kinematics

Inout

v

SMC_Vector3D

MCS vector pointing from the origin of the trafo to the TCP.