vcOrientationInterpolationMode
See in: Overview
Module: vcRobotics2
Parent: Enum
Referenced by: vcLinearMotionStatement.OrientationInterpolationMode, vcLinearTarget.OriType
How to access:
import vcRobotics2 as vc_robo2 vc_robo2.vcOrientationInterpolationMode.<ENUM_VALUE> # replace <ENUM_VALUE> with the desired enum value
Enums
| Value | Description |
| FIXED | No orientation interpolation. Locked to initial orientation. |
| ONE_AXIS | Interpolates orientation as a single axis-angle rotation from start to target (fixed absolute axis, one angular distance). |
| THREE_AXIS_WPR | Interpolates in WPR (XYZ) angle space by linearly blending W, P, and R deltas (with wrap-to-shortest-angle handling per component). |
| THREE_AXIS_WRIST | Wrist joints are interpolated in joint space. The frame orientation interpolation is disable. Not supported by all robot types. |
| THREE_AXIS_ZYZ | Interpolates in Euler ZYZ angle space by linearly blending the three Euler components (with wrap-to-shortest-angle handling per component). |
| TWO_AXIS_X | Uses a two-step decomposition biased to X: first aligns orientation with an absolute rotation, then applies a relative X-axis rotation. |
| TWO_AXIS_Y | Uses a two-step decomposition biased to Y: first aligns orientation with an absolute rotation, then applies a relative Y-axis rotation. |
| TWO_AXIS_Z | Uses a two-step decomposition biased to Z: first aligns orientation with an absolute rotation, then applies a relative Z-axis rotation. |