Functions; Poseadd - Adds The Translation Portions Of Pose Data - ABB SmarTac Applications Manual

6.2 Functions

6.2.1 PoseAdd - Adds the translation portions of pose data

Usage
PoseAdd is a function that requires two or three pose data arguments and returns
the sum of the translation portions in pose form.
The returned pose data will have the quaternions set to [1,0,0,0].
Basic examples
peSUM.trans is set equal to peFIRST.trans + peSECOND.trans. The rotational
portion of the peSUM is set to [1,0,0,0] by default.
Return value
Data type: pose
The displacement frame.
Arguments
Pose1
Data type: pose
Pose data to be added
Pose2
Data type: pose
Pose data to be added
[\Pose3]
Data type: pose
Pose data to be added
Syntax
Related information
PDispAdd
Data type pose
Application manual - SmarTac
3HAC024845-001 Revision: A
6.2.1 PoseAdd - Adds the translation portions of pose data
peSUM:=PoseAdd (peFIRST,peSECOND);
PoseAdd (Pose1 Pose2 [\Pose3])
PoseAdd '('
[ Pose1 ':=' ] < expression (IN) of pose > ','
[ Pose2 ':=' ] < expression (IN) of pose > ','
[' \'Pose3 ':=' < expression (IN) of pose > ] ')'
Described in:
PDispAdd - Add program displacements on page 98
Technical reference manual - RAPID Instructions, Functions and Data
types
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