orient algebra

Laro88

How do I combine orients in Rapid?

I am wondering if code like this is working in Rapid...

(definitions)
orient orient_offset;
tooldata tOrig;
tooldata tRapProgram;

(code snippet)
tRapProgram := tOrig;
tRapProgram.tframe.rot := tRapProgram.tframe.rot * orient_offset;

Since rot and orient are both quaternions...

osku

Hi

The syntax itself will work as you wrote, but I'm not sure if the result is what you want. In calculations like these I've used pose-functions like PoseMult. Your example might give the same results, but I haven't tested it...

-Osku