ISMKinematicWithConfigurations2.CPConnectible (METH)ΒΆ

METHOD CPConnectible : BOOL

Returns whether it is possible to CP interpolate between two positions with these configurations without (necessarily) causing a jump. A return value TRUE means that there is no singularity between the configurations, and that there is no other reason for a certain jump of axis values.

The implementation must fulfill the following properties:

  • CPConnectible(c, c) = TRUE (reflexive property)

  • CPConnectible(c1, c2) = CPConnectible(c2, c1) (symmetric property)

  • CPConnectible(c1, c2) AND CPConnectible(c2, c3) => CPConnectible(c1, c3) (transitive property)

Note

If TRUE is returned, then it may still be the case that, for a given CP movement starting from configuration cd1, cd2 is unreachable. An example would be two configurations that denote different periods for a rotary axis. Depending on the path between the positions, the target axis position may be reachable or not.

However, if TRUE is returned, that means that for each position with configuration cd1 and each position with configuration cd2, there is a path that connects the two positions.

InOut:

Scope

Name

Type

Return

CPConnectible

BOOL

Inout Const

cd1

CONFIGDATA

cd2

CONFIGDATA