vcMotionInterpolator
vcMotionInterpolator is used by a robot to interpolate motion targets and joint values.
Properties
| Name | Type | Access | Description |
| DefaultTargetMode | Enumeration | RW | Defines the relationship between motion targets and robot.
See Motion Target Constants for more information. |
| Targets | List of vcMotionTarget | RW | Lists all motion targets in the interpolator. |
Methods
| Name | Return Type | Parameters | Description |
| createTarget | vcMotionTarget | [vcMatrix target], [Enumeration motiontype], [Real speed], [Real accuracy] | Adds a new motion target to the interpolator using either the robot's current posture or given arguments.
If motiontype argument is VC_MOTIONTARGET_MT_LINEAR, speed argument defines CartesianSpeed (mm/s) property of motion target. If motiontype argument is VC_MOTIONTARGET_MT_JOINT, speed argument defines JointSpeedFactor (mm/s) property of motion target. See vcRslMotionStatement and vcMotionTarget for more information. |
| getCycleTimeAtTarget | Real | Integer index | Returns the cycle time of a motion target at a given index in interpolator's Targets property. |
| interpolate | vcMotionTarget | Real cycletime | Returns an interpolated motion target based on a given cycletime. |