ISMKinematicsWithOrientationImage.GetFlangeOrientationImage (METH)¶

METHOD GetFlangeOrientationImage : SMC_Error

Given the programmed flange orientation, this method returns the possible achievable orientations of the flange coordinate system.

For kinematics with three degrees of freedom for the orientation, the returned orientation is identical to the programmed orientation (mR_Flange). For kinematics with less than three degrees of freedom for the orientation, the returned orientation is a projection of the programmed orientation to the working space of the kinematics. This means, the closest achievable orientation is returned. (Note: the implementation needs to be consistent with the inverse transformation, which also performs this projection step.)

The implementation should return the most accurate orientation image possible, preferably a single orientation. If this is not possible, a one-dimensional space of orientations can be returned in oriInfo. If this is not possible, then a three-dimensional space is returned. In this case, nothing is known about the actual orientation. A full inverse transformation is necessary to compute the actual orientation.

Some notes on the use of this interface, to give more context information.

• If oriInfo.dof = zero, then the actual orientation is known. In this case, any tool offset can be used with the kinematics.

• If oriInfo.dof = one, then the orientation of the flange is known up to the rotation around a (known) axis (oriInfo.vU/vRot). mOriZero is set to some orientation in the reachable space. Only tool offsets that are parallel to oriInfo.vU can be used.

• If oriInfo.dof = three, then the actual orientation is unknown. Only the zero tool offset can be used.

InOut:

Scope	Name	Type	Comment
Return	GetFlangeOrientationImage	SMC_Error
Inout	oriInfo	OrientationSpace	Information about the possible orientations of the flange coordinate system.
Inout Const	mR_Flange	SMC_Matrix3	Programmed / desired orientation of the flange, expressed in the MCS.