CDRFLEx.alter_motion

Features

This function applies altering amount of motion trajectory when the alter function is activated. The meaning of the input values is defined from enable_alter_motion().

This function is only available in M2.4 version or higher.

Caution

alter_motion can be executed only in user thread.

Note

alter_motion can be excuted only in user thread
Alter motion can be adjusted through setting value fLimitDpos or fLimitDposPer in enable_alter_motion function
Orientation of Input pose follows fixed XYZ notation.

Parameter

Parameter Name	Data Type	Default Value	Description
pos	float[6]	-	position list

Return

Value	Description
0	Failed
1	Success

Example

CPP

DWORD WINAPI ThreadFunc(void *arg){
	while(true){
  		float pos[6] = {10, 0, 0, 10, 0, 0};
  		Drfl.alter_motion(pos);
  	}
}
…
int _tmain (int argc, _TCHAR* argv[]){
  HANDLE hThread; 
  DWORD dwThreadID;
  hThread = CreateThread(NULL, 0, ThreadFunc, NULL, 0, &dwThreadID);
  if (hThread == 0) {
    printf("Thread Error\n");
    return 0;
  }
  float limit_dPOS[2] = {50, 90};
  float limit_dPOS_per[2] = {50, 50};
  Drfl.enable_alter_motion(5, PATH_MODE_DPOS, COORDINATE_SYSTEM_BASE, limit_dPOS, limit_dPOS_per);
}