This is part of 2.1.0 – latest release.

MLxxCartesianToMatrix

since lib: v2.1.0

math

Convert a cartesian position into a 4x4 transformation matrix.

More information on this in the feature description

Version history

07 Jun 2022 deGroot

Added:

kind	name	type	default	comment
in_out	TCPPosition	`ARRAY [0..5] OF REAL`		input: X/Y/Z/Rx/Ry/Rz position
in_out	Result	`MLxMatrix`		output: resulting 4x4 transformation matrix

ARRAY [0..5] OF REAL

Used as input

[0]     // X
[1]     // Y
[2]     // Z
[3]     // Rx
[4]     // Ry
[5]     // Rz

Used as output

The resulting 4x4 transformation matrix.

Snippet of the function call:

MLxxCartesianToMatrix(
  TCPPosition := , 
  Result := );