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Motion.BSpline
Executes a b-spline type motion. A user must specify the position and time values for a given motion at multiple points.
Version History
Introduced in MPX 2.0.
Result
Void
Arguments
Overload 1
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| Argument |
Type |
Description |
| position |
Array of Double |
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| deltaTime |
Array of Double |
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Overload 2
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| Argument |
Type |
Description |
| position |
Array of Double |
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| deltaTime |
Array of Double |
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| emptyCount |
Int32 |
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Overload 3
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| Argument |
Type |
Description |
| position |
Array of Double |
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| deltaTime |
Array of Double |
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| attributes |
Mpx.MoveAttribute |
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Overload 4
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| Argument |
Type |
Description |
| position |
Array of Double |
|
| deltaTime |
Array of Double |
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| emptyCount |
Int32 |
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| attributes |
Mpx.MoveAttribute |
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Overload 5
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
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| deltaTime |
Array of Double |
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Overload 6
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
| emptyCount |
Int32 |
|
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Overload 7
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
| attributes |
Mpx.MoveAttribute |
|
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Overload 8
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
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| emptyCount |
Int32 |
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| attributes |
Mpx.MoveAttribute |
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Common Exceptions
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| Error |
Occurs when... |
| Argument |
An invalid argument is specified. |
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Visual Basic
Syntax
Sub BSpline(position As Double(), deltaTime As Double())
Sub BSpline(position As Double(), deltaTime As Double(), emptyCount As Int32)
Sub BSpline(position As Double(), deltaTime As Double(), attributes As Mpx.MoveAttribute)
Sub BSpline(position As Double(), deltaTime As Double(), emptyCount As Int32, attributes As Mpx.MoveAttribute)
Sub BSpline(position As Double(,), deltaTime As Double())
Sub BSpline(position As Double(,), deltaTime As Double(), emptyCount As Int32)
Sub BSpline(position As Double(,), deltaTime As Double(), attributes As Mpx.MoveAttribute)
Sub BSpline(position As Double(,), deltaTime As Double(), emptyCount As Int32, attributes As Mpx.MoveAttribute)
Sample Code
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' Overload 1
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime
controller.Motion(0).BSpline(pos, deltaTime)
' Overload 2
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount
controller.Motion(0).BSpline(pos, deltaTime, emptyCount)
' Overload 3
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime MoveAttr
controller.Motion(0).BSpline(pos, deltaTime, Mpx.MoveAttribute.Id)
' Overload 4
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount MoveAttr
controller.Motion(0).BSpline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id)
' Overload 5
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime
controller.Motion(0).BSpline(pos, deltaTime)
' Overload 6
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount
controller.Motion(0).BSpline(pos, deltaTime, emptyCount)
' Overload 7
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime MoveAttr
controller.Motion(0).BSpline(pos, deltaTime, Mpx.MoveAttribute.Id)
' Overload 8
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount MoveAttr
controller.Motion(0).BSpline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id)
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Sample Application
C#
Syntax
void BSpline(double[] position, double[] deltaTime);
void BSpline(double[] position, double[] deltaTime, int emptyCount);
void BSpline(double[] position, double[] deltaTime, Mpx.MoveAttribute attributes);
void BSpline(double[] position, double[] deltaTime, int emptyCount, Mpx.MoveAttribute attributes);
void BSpline(double[,] position, double[] deltaTime);
void BSpline(double[,] position, double[] deltaTime, int emptyCount);
void BSpline(double[,] position, double[] deltaTime, Mpx.MoveAttribute attributes);
void BSpline(double[,] position, double[] deltaTime, int emptyCount, Mpx.MoveAttribute attributes);
Sample Code
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// Overload 1
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime
controller.Motion[0].BSpline(pos, deltaTime);
// Overload 2
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount
controller.Motion[0].BSpline(pos, deltaTime, emptyCount);
// Overload 3
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime MoveAttr
controller.Motion[0].BSpline(pos, deltaTime, Mpx.MoveAttribute.Id);
// Overload 4
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount MoveAttr
controller.Motion[0].BSpline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id);
// Overload 5
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime
controller.Motion[0].BSpline(pos, deltaTime);
// Overload 6
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCoun
controller.Motion[0].BSpline(pos, deltaTime, emptyCount);
// Overload 7
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime MoveAttr
controller.Motion[0].BSpline(pos, deltaTime, Mpx.MoveAttribute.Id);
// Overload 8
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount MoveAttr
controller.Motion[0].BSpline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id); |
See Also
PVTF
PTF
PVT
Bessel
Spline
BSpline2
MoveAttr
Axis Object
PositionScale
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