DECOMPOSE program instruction

V+ Language Reference Guide

DECOMPOSE program instruction

Syntax

DECOMPOSE array_name[index] = location

Function

Extract the (real) values of individual components of a location value.

Parameters

array_name Name of the real-valued array that has its elements defined.

index Optional integer value(s) that identifies the first array element to be defined. Zero will be assumed for any omitted index. If a multiple-dimension array is specified, only the right-most index is incremented as the values are assigned.

location Location value that is decomposed into its component values. This can be a transformation value or a precision-point value, and can be defined by a variable or a location-valued function.

Details

This instruction assigns values to consecutive elements of the named array, corresponding to the components of the specified location.

If the location is represented as a transformation value, six elements are defined, corresponding to X, Y, Z, yaw, pitch, and roll.

If the location is represented as a precision-point value, then from one to twelve elements are defined (depending on the number of robot joints), that correspond to the individual joint positions.

Examples

The following code assigns the components of transformation part to elements 0 to 5 of array x:
DECOMPOSE x[] = part
The following code assigns the components of precision point #pick to array element angles[4] and those that follow it:
DECOMPOSE angles[4] = #pick
Related Keywords

#PPOINT precision-point function

TRANS transformation function

array_name	Name of the real-valued array that has its elements defined.
index	Optional integer value(s) that identifies the first array element to be defined. Zero will be assumed for any omitted index. If a multiple-dimension array is specified, only the right-most index is incremented as the values are assigned.
location	Location value that is decomposed into its component values. This can be a transformation value or a precision-point value, and can be defined by a variable or a location-valued function.