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rap_inrobtarr - function
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Description
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Read rapid 'robtaget' array to Varkon arrays
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Syntax
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| RAP_INROBTARR(client,var_name,first,last,trans,rot,conf,extax); |
| INT |
client |
| STRING |
var_name
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INT
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first
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INT
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last
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| VECTOR |
trans(n) |
| FLOAT |
rot(4*n)
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| INT |
conf(4*n)
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FLOAT
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extax(6*n)
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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 array to read
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first
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- first position in arrays
to transfer
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last
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- last position in arrays
to transfer
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| trans |
- array of positions (x,y,z)
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rot
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- 1 dimensional array of
orientaions (q1, q2, q3,
q4, . . . , q1, q2, q3,
q4)
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conf
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- 1 dimensional array of
confdata (cf1, cf4, cf6,
cfx, . . . ,cf1, cf4, cf6,
cfx)
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extax
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- 1 dimensional array of
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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