vcMotionInterpolator

vcMotionInterpolator is used by a robot to interpolate motion targets and joint values.

See in: Overview

Parent: -

Children -

Referenced by: vcRobotController.createMotionInterpolator()

Properties

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

Name	Type	Access	Description
DefaultTargetMode	vcMotionTargetMode	RW	Defines the relationship between motion targets and robot. See vcRobotics.vcMotionTargetMode.
Targets	vcList[vcMotionTarget]	RW	Lists all motion targets in the interpolator.

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

Name	Return Type	Parameters	Description
createTarget	vcMotionTarget	None	Adds a new motion target to the interpolator using either the robot's current posture or given arguments. See more If motiontype argument is vcMotionType.LINEAR, speed argument defines CartesianSpeed (mm/s) property of motion target. If motiontype argument is vcMotionType.JOINT, speed argument defines JointSpeedFactor (mm/s) property of motion target. Parameters: () ([vcMatrix target]) ([vcMatrix target], [Enumeration motionType]) ([vcMatrix target], [Enumeration motionType], [Real speed]) ([vcMatrix target], [Enumeration motionType], [Real speed], [Real accuracy]) Returns: vcMotionTarget: The created motion Target.
createTarget	vcMotionTarget	vcMatrix matrix	-
createTarget	vcMotionTarget	vcMatrix matrix, vcMotionType motionType	-
createTarget	vcMotionTarget	vcMatrix matrix, vcMotionType motionType, Real speed	-
createTarget	vcMotionTarget	vcMatrix matrix, vcMotionType motionType, Real speed, Real accuracyDistance	-
getCycleTimeAtTarget	Real	Integer index	Returns the cycle time of a motion target at a given index in interpolator's Targets property. See more Parameters: index (Integar): Interpolator's Targets property index. Returns: cycletime (Real): Cycle time of motion target.
interpolate	vcMotionTarget	Real cycletime	Returns an interpolated motion target based on a given cycletime. See more Parameters: cycletime (Real): Given cycle time. Returns: vcMotionTrget: Interpolated motion target.