ISMOrientationKinematicsWithOriImage2.GetOrientationImageWithOri (METH)¶

METHOD GetOrientationImageWithOri : SMC_ERROR

Returns the space of achievable orientations of the orientation kinematics, given the programmed orientation. It supersedes ISMOrientationKinematicsWithOriImage.GetOrientationImage and receives the orientation image of the position kinematics as an additional input.

InOut:

Scope	Name	Type	Comment
Return	GetOrientationImageWithOri	SMC_ERROR
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.
	aRef	AXISPOS_REF	The reference position of all axes.
	cd	CONFIGDATA	Programmed / desired configuration.
	oriInfoBase	OrientationSpace	The orientation image of the base coordinate system of the orientation kinematics. (If used for coupled kinematics, this is the orientation image that is returned by the position kinematics.)