vcPtpTarget

An object with properties to define necessary information to plan and execute a point-to-point motion. A kinematics behavior is required to execute a motion with this target type.

See in: Overview

Module: vcRobotics2

Parent: vcMotionControllerTarget

Children -

Referenced by: -

Properties

Learn how to use properties here. The properties are also inherited from the parent class.

Name	Type	Access	Description
BaseName	String	RW	Gets or sets the name of the base frame to use. This frame must exist in the controller for the motion to succeed.
BlendingType	vcMotionBlendingType	RW	Gets or sets the desired blending type. Also see BlendingValue.
BlendingValue	Real	RW	Gets or sets the value that defines how early blending towards the next motion may start. Also see BlendingType.
DriverReferenceValues	list[Real]	RW	Gets or sets optional internal driver "guess/desired" values that will be respected by the system when solving the final values at the target. See more This is useful when the desired turn values or configuration is known. If left to none or an empty list, the system will use the actual initial driver values, thus minimizing the change of configuration/turns to reach the target. NOTE: For retrieving reference/target values for a specific configuration, use vcKinSolver.inverse -method.
ExternalDriverValues	list[tuple[Integer, Real]]	RW	Gets or sets the list of external driver values to reach at the end of the motion. The integer is the external driver's index in this controller.
IsExternalTcp	Boolean	RW	Gets or sets a boolean value that affects how Target is interpreted. See more When set to true, the Base frame is used as the external/static tool and the Target is given in the Tool frame coordinates (tool-to-base). When set to false, the Target is given in the Base frame coordinates (base-to-tool).
Target	vcMatrix	RW	Gets or sets the target matrix which defines the final internal driver values at the target, along with base, tool, and external driver information. See more The target is given in base coordinates, also see IsExternalTcp. The given internal driver reference values are used by the system to find the nearest possible values to reach the target. The final internal driver values are resolved when the target is added to the controller for execution.
ToolName	String	RW	Gets or sets the name of the tool frame to use. This frame must exist in the controller for the motion to succeed.
VelocityPercent	Real	RW	Gets or sets the desired velocity percentage as decimal value [0, 1.0].