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 |
|
list (float[6]) |
|||
|
add_val |
list (float[6]) |
None |
List of add values to be added to the position
|
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)