DELRscInfraTypePackage (no NLS) Methods

This section describes the functions of the DELRscInfraTypePackage methods.

This page discusses:

RscTransform.Duplicate()

Returns a duplicate of the given transformation.

Signature

RscTransform.Duplicate() : RscTransform

ReturnType

RscTransform

Example

let RTrans(RscTransform)
RTrans = InputRTrans->Duplicate()

RscTransform.GetOAT()

Retrieves the orientation part of the given transformation in the form of a Kawasaki OAT.

Signature

RscTransform.GetOAT() : List

ReturnType

List

Example

let OAT(List)
OAT = InputRTrans->GetOAT()

RscTransform.GetQuaternions()

Retrieves the Quaternions of the given transform object.

Signature

RscTransform.GetQuaternions() : List

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetQuaternions()

RscTransform.GetRPY()

Gets the roll, pitch and yaw values for the given transform.

Signature

RscTransform.GetRPY() : List

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetRPY()

RscTransform.GetTransformCoefficients()

Retrieves the coefficients of the given transformation as an array with12 values.

Signature

RscTransform.GetTransformCoefficients() : List

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetTransformCoefficients()

RscTransform.GetVector()

Retrieves the orientation of vector for a given axis. The first argument determines which vector axis to retrieve (1: X, 2: Y, 3: Z).

Signature

RscTransform.GetVector(Axis Type : Integer) : List

Arguments

Name Input/Output Required? Type Comment
Axis Type In Integer -

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetXYZ()

RscTransform.GetXYZ()

Retrieves the position component of the given transform. Uses SI units.

Signature

RscTransform.GetXYZ() : List

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetXYZ()

RscTransform.GetZYZ()

Retrieves the orientation of the given transform in form of ZYZ Euler angles.

Signature

RscTransform.GetZYZ() : List

ReturnType

List

Example

let ls(List)
ls = InputRTrans->GetZYZ()

RscTransform.Inverse()

Computes the inverse of the given transform and returns it as a new transform.

Signature

RscTransform.Inverse() : RscTransform

ReturnType

RscTransform

Example

let InvRsc(RscTransform)
InvRsc = InputRTrans->Inverse()

RscTransform.IsEqualTo()

Compares a transformation with the given one. The comparison uses the predefined tolerance.

Signature

RscTransform.IsEqualTo(RscTransformation to compare : RscTransform) : Boolean

Arguments

Name Input/Output Required? Type Comment
RscTransformation to compare In RscTransform -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->IsEqualTo(otherRscVal)

RscTransform.Multiply()

Multiplies the given transform by another transform and returns the result as a new transform.

Signature

RscTransform.Multiply(RscTransformation to Multiply : RscTransform) : RscTransform

Arguments

Name Input/Output Required? Type Comment
RscTransformation to Multiply In RscTransform -

ReturnType

RscTransform

Example

let RxR2(RscTransform)
RxR2 = R->Multiply(R2)

RscTransform.Rotate()

Performs a rotation of the selected axis for the given transform. The first argument determines axis to be rotated (1: X, 2: Y, 3: Z).

Signature

RscTransform.Rotate(Axis : Integer, Rotation Angle : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
Axis In Integer -
Rotation Angle In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->Rotate(1, 25.7)

RscTransform.SetOAT()

Sets the orientation component of the transform using the values given in form of Kawasaki OAT.

Signature

RscTransform.SetOAT(O axis : Real, A axis : Real, T axis : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
O axis In Real -
A axis In Real -
T axis In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->SetOAT(2.0, .2, 99.1)

RscTransform.SetQuaternions()

Modifies the transform using the given quaternion parameters.

Signature

RscTransform.SetQuaternions(X : Real, Y : Real, Z : Real, W : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
X In Real -
Y In Real -
Z In Real -
W In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->SetQuaternions(1.2, 3.4, 5.6, 7.8)

RscTransform.SetRPY()

Modifies the Roll-Pitch-Yaw component of the transform. Uses SI units.

Signature

RscTransform.SetRPY(Roll : Real, Pitch : Real, Yaw : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
Roll In Real -
Pitch In Real -
Yaw In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->SetRPY(1.2, 3.4, 5.6)

RscTransform.SetTransformCoefficients()

Modifies the transform using the given array (12 values). WARNING: coefficients are unitless (or in SI units). The first 9 components are the rotation matrix, the last 3 components are the position vector in meters.

Signature

RscTransform.SetTransformCoefficients(List of 12 Reals : List) : Boolean

Arguments

Name Input/Output Required? Type Comment
List of 12 Reals In List -

ReturnType

Boolean

Example

// Where InList is a set of 12 doubles 
let b(Boolean)
b = InputRTrans->SetTransformCoefficients(InList)";

RscTransform.SetVector()

Modifies the orientation for a given axis. First argument specifies which axis to modify (1: X, 2: Y, 3: Z).

Signature

RscTransform.SetVector(Type : Integer, X : Real, Y : Real, Z : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
Type In Integer -
X In Real -
Y In Real -
Z In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->SetVector(2, 1.2, 3.4, 5.6)

RscTransform.SetXYZ()

Modifies the position component of the transform. Uses SI units.

Signature

RscTransform.SetXYZ(X : Real, Y : Real, Z : Real) : Boolean

Arguments

Name Input/Output Required? Type Comment
X In Real -
Y In Real -
Z In Real -

ReturnType

Boolean

Example

let b(Boolean)
b = InputRTrans->SetXYZ(1.2, 3.4, 5.6)