vcKinematicFrame
A Kinematic frame can be a base, tool or a system frame used in kinematics.
See in: Overview
Module: vcRobotics2
Parent: vcObject
Children -
Referenced by: vcFrameTarget.Reference, vcKinematics.ActiveBase, vcKinematics.ActiveTool, vcKinematics.FlangeFrame, ... (see more)
vcFrameTarget.Reference
vcKinematics.ActiveBase
vcKinematics.ActiveTool
vcKinematics.FlangeFrame
vcKinematics.RootFrame
vcKinematics.WorldFrame
vcKinematics.createBase()
vcKinematics.createTool()
vcKinematics.findBase()
vcKinematics.findTool()
vcLinearMotionStatement.Base
vcLinearMotionStatement.Tool
vcPtpMotionStatement.Base
vcPtpMotionStatement.Tool
vcSetBaseStatement.Base
vcSetToolStatement.Tool
Properties
Learn how to use properties here. The properties are also inherited from the parent class.
| Name | Type | Access | Description |
| Name | String | RW | Gets or sets the name of the frame. Name must be unique within the container the frame belongs to. |
| PositionMatrix | vcMatrix | RW | Gets or sets the transformation in reference (parent). Changes made during simulation are temporary and reverted upon sim reset. |
| WorldPositionMatrix | vcMatrix | R | Gets the transformation in simulation World. |
Methods
Learn how to use methods here. The methods are also inherited from the parent class.
| Name | Return Type | Parameters | Description |
| delete | None | None | " Deletes the frame. Parameters: None Returns: None |
| getParent | tuple | None | " Gets the current parent of the frame. See moreParameters: None Returns: tuple[vcNode | vcKinematicFrame, vcKinematicFrameParentType]: Node or Kinematic frame and the appropriate type. |
| setConstantCircularVelocityTarget | None | vcVector centerPoint, vcVector rotationAxis, Real velocity, Real pitch | " Starts interpolation of the frame with a constant angular velocity about the given rotational axis and center point. The frame's current position is its starting position that determines the radius, and thus tangential velocity. See moreParameters: centerPoint (vcVector): The center point of rotation relative to the frame's parent. rotationAxis (vcVector): The rotation axis. velocity (float): The velocity magnitude [degrees/s]. pitch (float): Rise or fall [mm/rev]. Returns: None |
| setConstantVelocityTarget | None | vcVector velocity | " Starts interpolation of the frame with a constant velocity from the current position to the direction of the vector. See moreThe speed/magnitude is the length of the vector. The velocity is given relative to the kinematic frame's parent. Parameters: velocity (vcVector): The velocity direction and magnitude [mm/s]. Returns: None |
| setParent | None | vcNode parent | " Sets the current parent of the frame. The value change is permanent e.g. is not reverted upon sim reset. See moreParameters: parent (vcNode): New parent for the frame. Returns: None Exceptions: RuntimeError: When assigned parent is invalid. |
| setParent | None | vcKinematicFrame parent | " Sets the current parent of the frame. The value change is permanent e.g. is not reverted upon sim reset. See moreParameters: parent (vcKinematicFrame): New parent for the frame. Returns: None Exceptions: RuntimeError: When assigned parent is invalid. |
| stopMovement | None | None | " Ends any active velocity command and stops the movement immediately. Parameters: None Returns: None |