Location Class Summary

The following pages provide detailed information on the properties and methods of the Location Class. This class and its Location Object instances provide the fundamental means for representing robot and part positions and orientations within GPL. Location Objects and Profile Objects (which define motion performance parameters) are the standard arguments required by most Move methods for defining how to drive the robot along a path to a destination specified by a Location.

Each Location Object contains data that defines: a Type indicator; a position and orientation; clearance information that is used to safely approach the Location; and robot configuration specific information that pertains to the target robot.

There are two Type’s of Location Objects: Angles and Cartesian. The Angles Locations store robot positions as an array of axes positions. When we refer to the “position” or “total position” of an Angles Location, we are referring to the array of axes positions. The more general Type is called a Cartesian Location. Cartesian Locations contain a Cartesian position and orientation that is displayed as an X, Y, Z displacement and a set of three Euler Angles: Yaw, Pitch, and Roll. In addition to this position and orientation, each Cartesian Location contains an optional pointer to a reference frame object. The X, Y, Z, Yaw, Pitch, and Roll values define the Location’s “position with respect to the reference frame” (PosWrtRef). When we refer to the “position” or “total position” of a Cartesian Location, we are discussing the combined effect of the “position with respect to the reference frame” and any specified reference frames.

Since flexible automation must alter a robot’s actions in order to accommodate to variations in a material handling, assembly or other type of operation, extensive methods are provided for mathematically manipulating the position and orientation of Locations. The table below summarizes the properties and methods that are described in greater detail in the following sections.

Member	Type	Description
location_obj.Angle	Property	Sets and gets a single axis position for an Angles Location.
location_obj.Angles	Method	Changes all of the axes positions values in an Angles Location.
location_obj.Clone	Method	Returns a copy of the location_obj.
location_obj.Config	Property	Sets and gets the bit flags that specify special robot specific location attributes.
location_obj.ConveyorLimit	Method	Returns the distance that a Location, which is defined relative to a conveyor reference frame, is from the operating limits of the conveyor.
Location.Distance	Method	Returns the distance between the XYZ positions of two Cartesian Locations.
location_obj.Here	Method	Modifies the “total position” of the location_obj to be equal to the current location of a robot.
location_obj.Here3	Method	Defines the "total position" of location_obj based upon the XYZ coordinates of three specified locations.
location_obj.Inverse	Method	Returns the inverse of the “total position” of the Cartesian location_obj.
location_obj.Kinesol	Method	Returns a Cartesian Location equivalent to an Angles Location for a specific kinematic model or vise versa.
location_obj.Mul	Method	Returns the result of combining the “total position” of location_obj with the “total position” of another Cartesian Location.
location_obj.Normalize	Method	Corrects the value of the PosWrtRef of a Cartesian Location for any mathematical inconsistencies in the value.
location_obj.Pitch	Property	Sets and gets the Pitch angle of the PosWrtRef of a Cartesian Location.
location_obj.Pos	Property	Sets and gets the “total position” of the location_obj.
location_obj.PosWrtRef	Property	Sets and gets the PosWrtRef of a Cartesian Location.
location_obj.RefFrame	Property	Sets and gets a pointer to the reference frame object that the location_object is defined relative to.
location_obj.Roll	Property	Sets and gets the Roll angle of the PosWrtRef of a Cartesian Location.
location_obj.Text	Property	Sets and gets a String value not used by GPL. Available for general use by applications.
location_obj.Type	Property	Sets and gets the Type specification.
location_obj.X	Property	Sets and gets the X position value of the PosWrtRef of a Cartesian Location.
location_obj.XYZ	Method	Changes the X, Y, Z, Yaw, Pitch, and Roll values of the PosWrtRef of a Cartesian Location.
location_obj.XYZInc	Method	Increments the X, Y, and Z values of the PosWrtRef of a Cartesian Location.
Location.XYZValue	Method	Returns a Cartesian Location with a "total position" equal to specified X, Y, Z, Yaw, Pitch, and Roll coordinates.
location_obj.Y	Property	Sets and gets the Y position value of the PosWrtRef of a Cartesian Location.
location_obj.Yaw	Property	Sets and gets the Yaw angle of the PosWrtRef of a Cartesian Location.
location_obj.Z	Property	Sets and gets the Z position value of the PosWrtRef of a Cartesian Location.
location_obj.ZClearance	Property	Sets and gets the distance along the Z-axis that defines the safe approach position to the Location.
location_obj.ZWorld	Property	Sets and gets the flag that indicates if the approach distance is measured along the Tool or World Z coordinate axis.