ID : 341

LetP

Function

To assign a vector value to position elements (X, Y and Z elements) of Position Type variable or Homogeneous Translation Type variable.

Syntax

LetP position variable = vector

Guaranteed entry

Position variable: Designate Position Type variable or Homogeneous Translation Type variable.
Vector: Designate Vector Type data.

Description

Vector Type data specified in vector are assigned to the 1st through 3rd elements (X, Y, Z) of the designated position variable (Homogeneous Translation Type variable or Position Type variable).

Tvar = t(X, Y, Z, Ox, Oy, Oz, Ax, Ay, Az, Fig)
Pvar = p(X, Y, Z, Rx, Ry, Rz, Fig)
Vvar = v(Xv, Yv, Zv)

LetP Tvar = Vvar
'Tvar : t(Xv, Yv, Zv, Ox, Oy, Oz, Ax, Ay, Az, Fig)

LetP Pvar = Vvar
'Pvar : p(Xv, Yv, Zv, Rx, Ry, Rz, Fig)

Related Terms

Let, LetX, LetY, LetZ, LetR, LetRx, LetRy, LetRz, LetO, LetA, LetF, LetJ

Attention

It is not judged whether the assigned variable is a value that can be taken as robot's position.

Example

'!TITLE "Assignment to Position Type or Homogeneous Translation Type Position Vector"
' Assign the position vector in the current position to bbb
Sub Sample_LetP

  Dim aaa As Trans
  Dim bbb As Trans

  aaa = CurTrn

  ' Assign the position vector in aaa to bbb
  LetP bbb = PVec( aaa )

  ' Display the position vector in the current position on the message output window
  PrintDbg bbb

End Sub

ID : 341

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