vcPositionFrame

vcPositionFrame is a motion target for a robot that can be referenced by a statement.

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  1. Properties
  2. Methods

Properties

Name Type Access Description
Name String RW Defines the name of the position.
ReferencePoint Boolean RW Turns on or off the use of a reference point to define the location of the position.
Configuration String RW Defines the configuration of the robot for the position.
Properties List of vcProperty R Gets a list of properties in the position.
Statement vcStatement R Gets the statement referencing the position.
JointValues List of Real R Gets a list of all the robot joint values (internal and external) for the position.
InternalJointValues List of Real R Gets a list of internal robot joint values for the position.
ExternalJointValues List of Real R Gets a list of external robot joint values for the position.
PositionInReference vcMatrix RW Defines the position matrix in reference to its base/parent coordinate system.
PositionInWorld vcMatrix RW Defines the position matrix in reference to World coordinate system.

Methods

Name Return Type Parameters Description
setJoints None List of Real values Sets the joint values of the position using a given list of values that must be equal or smaller in length than the total robot joint count (including external joints).
setExternalJoints None List of Real values Sets the external joint values of the position.
createProperty vcProperty Enumeration type, String name Creates a new property of a given type and name in the position, and then returns the new property.

An optional constraints argument can be used to define constraints for new property, which must be defined at the time of creation.

See Property Constants for more information.
deleteProperty None vcProperty property Deletes a given property in the position.
getProperty vcProperty String name Returns a property matching a given name in the position; otherwise returns None.