Hello all,
I have been trying to understand how the axis UI works and came across this
comment starting on line 3333 of bin/axis in a fresh pull of 2.8 pre:
duplicate_coord_letters = ""
for i in range(len(trajcoordinates)):
if trajcoordinates[i] == " ": continue
if trajcoordinates.count(trajcoordinates[i]) > 1:
duplicate_coord_letters = duplicate_coord_letters +
trajcoordinates[i]
if duplicate_coord_letters != "":
# Can occur, for instance, with trivkins with kinsmodule=both).
# In such kins, the value for a duplicated axis letter will equal the
# value of the highest numbered joint.
# Movements on axis gui display in joint mode (after homing) may be
unexpected,
# e.g., moving a joint that is not the highest number will not
affect the
# corresponding 'identity' coordinate.
print ("Warning: Forward kinematics must handle duplicate coordinate
letters:%s"%
duplicate_coord_letters)
I am confused by the sentence "In such kins, the value for a duplicated
axis letter will equal the value of the highest numbered joint."
What does this mean?
I though that for an XYYZ config the axis:joint relation should be {X:0,
Y0:1, Y1:2, Z:3} so the value for a duplicated axis letter is actually
unlikely to equal the value of the highest numbered joint. Or is that not
even what the comment is referring to?
Sorry for bothering you all again!
Thanks,
Kurt
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