addto()

Definition

addto(pos, add_val=None)

Features

This function creates a new posj object by adding add_val to each joint value of posj.

Parameters

Parameter Name	Data Type	Default Value	Description
pos	posj	-	posj or position list
pos	list (float[6])	-	posj or position list
add_val	list (float[6])	None	List of add values to be added to the position No value is added if it is None or [].

Return

Value	Description
posj	Joint space point

Exception

Exception	Description
DR_Error (DR_ERROR_TYPE)	Parameter data type error occurred
DR_Error (DR_ERROR_VALUE)	Parameter value is invalid

Example

Python

q1 = posj(10, 20, 30, 40, 50, 60)

movej (q1, v=10, a=20)

q2 = addto(q1, [0, 0, 0, 0, 45, 0])

movej (q2, v=10, a=20) # The robot moves to the joint (10, 20, 30, 40, 95, 60).
q3 = addto(q2, [])

q4 = addto(q3)

posj()