Kinematics flag KINEMATIC_NO_INCLINE_ROTATION

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question

Iago MF asked Aug 16, '23 Felix Möhlmann commented Aug 16, '23

Kinematics flag KINEMATIC_NO_INCLINE_ROTATION

Hi,

I was doing some test with kinematics when I saw this flag in global macros:

KINEMATIC_NO_INCLINE_ROTATION.

I expected that if i use this the task executer is supposed to rotate only in Z-axis, but the behaviour is the same as if i use no flags.

I actually don't know what is supposed to do because i could't find documentation about this, but if the behaviour is what I understand, ¿what i'm doing wrong?

I attach a dummy model (I know flying is not supported by any agv manufacturer yet).

23.1 No Incline Rotation.fsm

Thanks in advance!

Iago

Software Version:

FlexSim 23.1.4

kinematics rotation flags

231-no-incline-rotation.fsm (35.0 KiB)

Answer 1 · 2023-08-16T11:33:46Z

Felix Möhlmann answered Aug 16, '23 Felix Möhlmann commented Aug 16, '23

When used in conjunction with the "Manage Rotations" flag, it keeps the AGV pointing in the direction of travel in the XY plane only.

Both TEs have the "Manage Rotations" flag set. TE1 also has the "No Incline Rotation" flag.

agvlooping.gif (1.2 MiB)

· 5

Iago MF commented · Aug 16, 2023 at 12:14 PM

Thanks Felix, ¿but where did you set those flags? I'm using this function:

initkinematics(token.taskExecuter.find(">variables/kinematics"),token.taskExecuter,KINEMATIC_NO_INCLINE_ROTATION);

But I can only set one flag here.

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Jason Lightfoot ♦ Iago MF commented · Aug 16, 2023 at 12:32 PM

Use the binary OR operator '|' between the macros.

I'll send in a note to add this in the documentation and to add those flags to the process flow activity list of options.

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Iago MF Jason Lightfoot ♦ commented · Aug 16, 2023 at 12:35 PM

Perfect, i didn't know how to work with more than one flag. Thanks!

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Felix Möhlmann Iago MF commented · Aug 16, 2023 at 12:57 PM

You can combine multiple flags in the parameter. Either just add them together or use the bitwise OR operator "|".

initkinematics(node, object, KINEMATIC_NO_INCLINE_ROTATION + KINEMATIC_MANAGE_ROTATIONS)

initkinematics(node, object, KINEMATIC_NO_INCLINE_ROTATION | KINEMATIC_MANAGE_ROTATIONS)

Each flag is a power of two, so which flags are set is encoded in the bits of the resulting binary number. MANAGE_ROTATIONS is 1 and NO_INCLINE_ROTATION is 64, for example. (65 in decimal = 01000001 in binary)

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