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.
-
alter_motion can be executed only in user thread.
-
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
C++
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);
}