ISMOrientationKinematicsWithOriImage.GetOrientationImage (METH)¶

METHOD GetOrientationImage

Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation.

InOut:

Scope	Name	Type	Comment
Inout	oriInfo	OrientationSpace	Information about the possible orientations generated by the orientation kinematics.
	csOriKin	MCS_OR_FLANGE	Whether the orientation info is defined in MCS or in the flange coordinate system of the position kinematics on which the orientation kinematics is mounted. For example, Kin_CAxis can provide the orientation in the flange coordinate system, while Kin_Wrist2 can provide the orientation in the MCS.
	bActive	BOOL	Whether the degrees of freedom of oriInfo are active (TRUE) or passive (FALSE). As an example, Kin_CAxis has one _active_ degree of freedom, as the rotation axis C can be used to rotate to any desired angle. In contrast, Kin_Wrist2 has one _passive_ degree of freedom. As the direction of the tool (z-axis) is given by the programmed orientation, the direction of the x- and y-axis are fixed but yet unknown (until the orientation of the base coordinate system has been computed).
Inout Const	mR_flange	SMC_Matrix3	Programmed / desired orientation of the flange of the orientation kinematics, expressed in the MCS.