def groupLine(self, desPos, maxVel=None):
"""
Enable the group line interpolation motion from the current position to the target position in
the Cartesian space. Note: max. velocity setting is not implement in python version API.
TODO: Check c++ version API and update to accept the macVel.
:param desPos: a List of 6 element [x, y, z, roll, pitch, yaw]
:param maxVel: set the limit of max. velocity. input 0 to ignore the parameter
:return: error code
:rtype: int
"""
mask = 0
mask += GROUP_AXIS_MASK_X
mask += GROUP_AXIS_MASK_Y
mask += GROUP_AXIS_MASK_Z
mask += GROUP_AXIS_MASK_A
mask += GROUP_AXIS_MASK_B
mask += GROUP_AXIS_MASK_C
for i in range(len(desPos)):
self.desPos_.pos[i] = desPos[i]
if maxVel is None:
maxVel = c_void_p()
else:
print("This Python version API do not accept maxVel argument and set to NULL as defualt.")
maxVel = c_void_p()
return self.__GroupLine__(self.id_, self.index_, c_int32(mask), self.desPos_, maxVel)
def tag_string(self, in_string):
in_buffer = ctypes.create_string_buffer(in_string.encode('utf-8'))
out_buffer = ctypes.pointer(ctypes.c_void_p())
self.__tag_string__(in_buffer, out_buffer)
return ctypes.cast(
out_buffer.contents,
ctypes.POINTER(ctypes.c_char * (len(in_buffer) + 2))
).contents[:].decode('utf-8').rstrip('\0')
def square_int_array(self, in_array):
in_array_p = ctypes.cast(
ctypes.pointer((ctypes.c_int16 * len(in_array))(*in_array)),
ctypes.POINTER(ctypes.c_int16))
out_array_p = ctypes.pointer(ctypes.c_void_p())
self.__square_int_array__(in_array_p, out_array_p,
ctypes.c_int16(len(in_array)))
return ctypes.cast(out_array_p.contents,
ctypes.POINTER(ctypes.c_int16 *
len(in_array))).contents[:]