FC_PoseMatrixToPosition - General Information
Overview
|
Type: |
Function |
|
Available as of: |
V1.0.0.0 |
|
Versions: |
Current version |
This chapter provides information on:
Description
Given a pose matrix, the function returns a 3D vector representing the translational part of the input pose.
Interface
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Input |
Data type |
Description |
|---|---|---|
|
i_stPoseMatrix |
SE_MATH.ST_Matrix4D |
A 4D matrix describing a Cartesian pose. |
|
Output |
Data type |
Description |
|---|---|---|
|
q_xError |
BOOL |
If this output is set to TRUE, an error has been detected. For details, refer to q_etResult and q_etResultMsg. |
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q_etResult |
Provides diagnostic and status information. If q_xError = FALSE, then q_etResult provides status information. If q_xError = TRUE, then q_etResult provides diagnostic/error information. The enumeration ET_Result contains the possible values of the POU operation results. |
|
|
q_sResultMsg |
STRING[80] |
Provides additional information about the current status of the POU. |