VDefGetMotionRange Method

Description
Acquires values of the motion range limited by VDefTool, VDefArm, VDefLocal, and VGoCenter.

Syntax
Sub VDefGetMotionRange(ByRef MaxMoveDist As Double, ByRef MaxPoseDiffAngle As Double, ByRef LjmMode As Integer)

Parameters

• MaxMoveDist
  A real number variable indicating the maximum travel distance.
  If 0 is specified, the range is not limited. (0 to 500. Default: 200)
  VDefTool, VDefArm, VDefLocal, and VGoCenter are used to limit the range.
• MaxPoseDiffAngle
  A real number variable indicating the maximum displacement angle (degrees) of the hand orientation (UVW).
  If 0 is specified, the range is not limited.
  It only affects VDefLocal. (0 to 180. Default: 45 degrees)
• LjmMode
  A real number variable indicating the LJM mode.

See Also
VDefTool Method, VDefArm Method, VDefLocal Method, VGoCenter Method, VDefSetMotionRange Method

VDefGetMotionRange Example
VB Example:

Dim maxMoveDist As Double  
Dim maxPoseDiffAngle As Double  
Dim ljmMode As Integer  
m_spel.VDefGetMotionRange(maxMoveDist, maxPoseDiffAngle, ljmMode)  

C# Example:

double maxMoveDist, maxPoseDiffAngle;  
int ljmMode;  
m_spel.VDefGetMotionRange(out maxMoveDist, out maxPoseDiffAngle, out ljmMode);