Installation manual

Chapter 7 Library Reference

＜Header file for Visual C++ (Windows)＞

・Data types with specific significance:

typedef float MATRIX[3][4];

3×4 matrix indicating the tip position/orientation, etc.

ｎx ｏx ａx ｐx

ｎy ｏy ａy ｐy

ｎz ｏz ａz ｐz

typedef float NOAMAT[3][3]; 3×3 matrix indicating the tip orientation

ｎx ｏx ａx

ｎy ｏy ａy

ｎz ｏz ａz

typedef float VECTOR[3]; Tip position vector, etc.

（ｐx，ｐy，ｐz ）

・Data types when in processing end:

#define WM_WAIT 0 Returns from function after processing ends.

#define WM_NOWAIT 1 Returns from function before processing ends.