Data Sheet

(5) void Set_LIN(Pose3D StartPose, Pose3D EndPose,

double TotalTime, double AccelTime)

Parameter

Pose3D StartPose / Pose3D EndPose

double TotalTime / double AccelTime

Returns

void

Description

Sets linear trajectory from StartPose, EndPose, TotalTime,

AccelTime.

(6) void Set_CIRC(vecd StartPose, vecd ViaPose, vecd EndPose,

double TotalTime, double AccelTime)

Parameter

vecd StartPose / vecd ViaPose / vecd EndPose

double TotalTime / double AccelTime

Returns

void

Description

Sets circular trajectory from StartPose, ViaPose, EndPose,

TotalTime, AccelTime.

(7) void Set_CIRC(Pose3D StartPose, Pose3D ViaPose, Pose3D EndPose,

double TotalTime, double AccelTime)

Parameter

Pose3D StartPose / Pose3D EndPose

double TotalTime / double AccelTime

Returns

void

Description

Sets circular trajectory fom StartPose, ViaPose, EndPose,

TotalTime, AccelTime

(8) void Set_P2PwithHand(vecd StartPose, vecd EndPose,

veci Hand1, veci Hand2,

double TotalTime, double AccelTime)

Parameter

vecd StartPose / vecd EndPose

veci Hand1 / veci Hand2

double TotalTime / double AccelTime

Returns

void

Description

Sets P2P trajectory from StartPose, EndPose, Start HandPose,

End HandPose, TotalTime, AccelTime