Yt_GP_JointMap
The JointMap is populated by the Y_GP_ReadJointMap and Y_GP_DetectPrimeAxes function blocks. Other function blocks such as Y_GP_ReAlignPrimeAxes and Y_GP_GroupToHome require this data. JointMap provides a link between the Axis specific information such as AXIS_REF and AxisName and Group specific information such as Joint and Label. Functions using JointMap are able to determine if a group has more than one axis operating a Joint, and find the AXIS_REF for an axis operating one of the Degrees of Freedom labeled as a STRING such as 'X'.
Yt_GP_JointMap: ARRAY
| Array Name | Data Type | Range | Description | Usage |
|---|---|---|---|---|
| Yt_GP_JointMap | Yt_GP_JointMapDetail | 1..32 | Array with JointMapDetails information |
Yt_GP_JointMapDetail: STRUCT
| Element | Data Type | Description | Usage |
|---|---|---|---|
| Label | STRING | The name (Label) of a degree of freedom in world space as listed in the group's Mechanism configuration tab. | JointMap.Label
|
| Joint | INT | The index of the joint that corresponds to the Label as listed in the group's Mechanism configuration tab. | JointMap.Joint |
| AxisName | STRING | The axis name as listed in the axis' Options tab. | JointMap.AxisName |
| AxisRef | UINT | The AXIS_REF.AxisNum that corresponds to the AxisName. | JointMap.AxisRef |