Spherical Arcs - National Instruments NI-Motion User Manual

Spherical Arcs

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flex_read_error_msg_rtn(boardID,&commandI
D,&resourceID, &errorCode);
nimcDisplayError(errorCode,commandID,res
ourceID);
//Read the communication status register
flex_read_csr_rtn(boardID,&csr);
}while(csr & NIMC_MODAL_ERROR_MSG);
}
else// Display regular error
nimcDisplayError(err,0,0);
return;// Exit the Application
}
A 3D spherical arc defines a 2D circular arc in the X'Y' plane of a
coordinate system that is transformed by rotation in pitch and yaw from the
normal 3D coordinate space (XYZ), as shown in Figures 6-6 and 6-7.
Y
X
Figure 6-6. Changing Pitch by Rotating the X Axis
6-7
Chapter 6 Arc Moves
NI-Motion User Manual