Convert a cartesian position into a 4x4 transformation matrix.
Version history
0.1.0
deGroot
Changes
Added:
- initial version
Overview
| 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 |
Details
TCPPosition
ARRAY [0..5] OF REALUsed as input
[0] // X
[1] // Y
[2] // Z
[3] // Rx
[4] // Ry
[5] // Rz
Result
MLxMatrixUsed as output
The resulting 4x4 transformation matrix.
Implementation
Snippet of the function call:
MLxxCartesianToMatrix(
TCPPosition := ,
Result := );