ProjectRotation1dof (FUN)¶

FUNCTION ProjectRotation1dof : SMC_Error

Given an arbitrary orientation mR, and a desired axis vDesiredAxis, this function computes a matrix with R * (0,0,1) = vDesiredAxis that is closest to mR. May return an error only if mR is not a rotation matrix.

InOut:

Scope	Name	Type	Comment
Inout	mProjected	SMC_Matrix3	Rotation Matrix after Projection
Inout Const	mR	SMC_Matrix3	Programmed orientation of the TCP
	vDesiredAxis	SMC_VECTOR3D	DesiredAxis
Return	ProjectRotation1dof	SMC_Error
Output	c_deg	LREAL