compute distances

Laro88

Hello.

Can someone share some code to compute distances in RAPID?

I need to compute the distance from the present robot position to a target - say "jointtargetHome".

Case:
Depending on where the robot is and what tool it is carrying, I need to perform different motions depending on the distance to a target. Something like pseudo:
num DistToTarget(CurrentTool, Target T);

Best regards

innebandy

Hello,

 

Why don't you apply following function?

 

Distance() - Distance between two points

Usage: Distance is used to calculate the distance between two points in the space.

Example:

VAR num dist;
CONST pos p1 := [4,0,4];
CONST pos p2 := [-4,4,4];
...
dist := Distance(p1, p2);

 

Best Regards,

antonin.nosek

Hello,

as below:???

 

IF CurrentPos(pXX,tGripper,100)=TRUE THEN
...

ENDIF

 

  FUNC bool CurrentPos(
    robtarget ComparePos,
    INOUT tooldata Tool,
    num Accuracy
    INOUT wobjdata Wobj)

    VAR num Counter:=0;
    VAR robtarget ActualPos;

    IF Present(Wobj) THEN
      ActualPos:=CRobT(Tool:=ToolWObj:=Wobj);
    ELSE
      ActualPos:=CRobT(Tool:=ToolWObj:=wobj0);
    ENDIF
    IF ActualPos.trans.x>ComparePos.trans.x-Accuracy AND ActualPos.trans.x<ComparePos.trans.x+Accuracy Counter:=Counter+1;
    IF ActualPos.trans.y>ComparePos.trans.y-Accuracy AND ActualPos.trans.y<ComparePos.trans.y+Accuracy Counter:=Counter+1;
    IF ActualPos.trans.z>ComparePos.trans.z-Accuracy AND ActualPos.trans.z<ComparePos.trans.z+Accuracy Counter:=Counter+1;
    IF ActualPos.rot.q1>ComparePos.rot.q1-0.1 AND ActualPos.rot.q1<ComparePos.rot.q1+0.1 Counter:=Counter+1;
    IF ActualPos.rot.q2>ComparePos.rot.q2-0.1 AND ActualPos.rot.q2<ComparePos.rot.q2+0.1 Counter:=Counter+1;
    IF ActualPos.rot.q3>ComparePos.rot.q3-0.1 AND ActualPos.rot.q3<ComparePos.rot.q3+0.1 Counter:=Counter+1;
    IF ActualPos.rot.q4>ComparePos.rot.q4-0.1 AND ActualPos.rot.q4<ComparePos.rot.q4+0.1 Counter:=Counter+1;
    RETURN Counter=7;
  ENDFUNC

 

BR Tony

Laro88

Distance() seems to be  the perfect solution, thank you