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rap_inrobtarget - function
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Description
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Read Rapid 'robtaget' variable to varkon variables
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Syntax
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| RAP_INROBTARGET(client, var_name, trans, rot, conf,
extax); |
| INT |
client |
| STRING |
var_name
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| VECTOR |
trans |
| FLOAT |
rot(4)
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| INT |
conf(4)
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FLOAT
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extax(6)
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Principal parameters
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| client |
- id of the created RPC
connection to use |
| var_name |
- the name of the rapid
robtarget-variable to read
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| trans |
- position (x,y,z)
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rot
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- orientaion (q1, q2, q3,
q4)
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conf
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- confdata (cf1, cf4, cf6,
cfx)
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extax
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- external axes (eax_a,
eax_b, eax_c, eax_d, eax_e, eax_f)
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Return value
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| An INT value equal to the current error status as
below: |
| >=0 |
RAP variable handling status: operation was successfull
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-1
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Remote procedure call failed.
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<-1
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RAP variable handling error message, see RAP service
specification (3HAC 7697-1) page 127
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Comments
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RAP routines is only available for xvarkon (UNIX
platforms), the use of RAP-routines need also to be enabled when
building xvarkon. See $VARKON_ROOT/sources/makefile.
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