kernelv_ch_get_total_cs_rot_matrix()

Prototype

KERNELV_RETURN

kernelv_ch_get_total_cs_rot_matrix(unsigned long int chanIndex,
                                                         double *matrix,
                                                         unsigned long int bufferSize,
                                                         unsigned long int *retBytes);

Description

Returns the rotation matrix generated by concatenating all active coordinate systems.

The rotation matrix generated by the parameters ϕ1, ϕ2 ϕ3 of the following NC command is returned:

#CS DEF [CS1] [ <v1>,<v2>,<v3>,<ϕ1>,<ϕ2>,<ϕ3> ]

If no coordinate system is active, the standard matrix is returned.

Parameter

Name	Type	Meaning
chanIndex	unsigned long	Channel index of the channel.
matrix	double*	Pointer to the memory location for the rotation matrix.
bufferSize	unsigned long	Length of the memory area for the rotation matrix must be at least 3 x 3 x sizeof(double).
returnLength	unsigned long*	Pointer to the value to which the actually returned number of bytes is to be written. If the transferred memory is too small for the return value, the return value ERR_CNC_RET_MEMORY is returned and this parameter returns the required memory size.

Return values

Symbol	Value	Meaning
RET_FINISHED	0	The function was executed without error.
ERR_INVALID_CHAN	-1	The transferred channel index is higher than the number of configured channels –1
ERR_CNC_NOT_INIT	-3	The simulation CNC kernel was not yet initialised.
ERR_CNC_RET_MEMORY	-4	The return value(s) does/do not fit into the memory provided. In this case, the minimum size required for the return is returned in returnLength.