IF_CollisionHandlerDelta3Ax – UpdateFromKinematicsResult (Method)

Overview

Type:	Method
Available as of:	V1.0.0.0

This chapter provides information on:

Task
Description
Interface

Task

Update the position based on kinematic result.

Description

Update the position and orientation of each default collision object based on the kinematic result provided as input. The default collision objects are those that are automatically created and configured by the collision handler.

As value for the input i_stKinematicsResult, it is possible to provide q_stResultLocal resulting from a successful call of EvaluateDirectKinematics or EvaluateInverseKinematics.

NOTE: This method does not affect the position and orientation of the collision objects inside the collision groups that have been added by you. When calling this method, the collision objects that are part of the groups must have xConfigured = TRUE, so that the groups can be successfully updated.

Interface

Access: PUBLIC

Input	Data type	Description
i_stKinematicsResult	ST_Delta3AxKinematicsResult	Structure containing the result of the kinematics for a Delta3Ax robot with reference to the coordinate system of the robot.

Output	Data type	Description
q_xError	BOOL	The output is set to TRUE if an error has been detected during the execution.
q_etResult	ET_Result	POU-specific output on the diagnostic; q_xError = FALSE -> Status message; q_xError = TRUE -> Diagnostic message.
q_sResultMsg	STRING(80)	Event-triggered message that gives additional information on the diagnostic state.