Math¶

Combine - Strings¶

Merges an arbitrary number of strings into one string.

	Name	Data type	Description
Inputs	String List	List of String	The string values to merge into one string.

Outputs	Result	String	The result of the merge.

Convert - Binary To Integer¶

Converts a list of boolean values to an integer value.

	Name	Data type	Description
Inputs	Boolean Values	List of Boolean	List of boolean values from Least Significant Bit (LSB) as first element to Most Significant Bit (MSB) as last element.

Outputs	Integer Value	Integer	The resulting integer value.

Convert - Boolean To String¶

Converts a boolean to string.

	Name	Data type	Description
Inputs	Value	Boolean	The boolean to convert into a string.

Outputs	Text	String	The resulting string.

Convert - Float To String¶

Converts a float number to string.

	Name	Data type	Description
Inputs	Number	Float	The float number to convert into a string.

Outputs	Text	String	The resulting string.

Convert - Float To Acceleration¶

Converts a float number to an acceleration value with unit.

	Name	Data type	Description
Inputs	Float Number	Float	The float number to convert into an acceleration value.
	Acceleration Unit	Select	The acceleration unit for the acceleration value. Available are % and M/S^2.

Outputs	Acceleration Value	Acceleration	The resulting acceleration.

Convert - Float To Blending¶

Converts a float number to a blending value with unit.

	Name	Data type	Description
Inputs	Float Number	Float	The float number to convert into a blending value.
	Blending Unit	Select	The blending unit for the blending value. Available are % and M.

Outputs	Blending Value	Blending	The resulting blending.

Convert - Float To Integer¶

Converts a float number to an integer.

	Name	Data type	Description
Inputs	Value	Float	The float number to convert into an integer.

Outputs	Cast Result	Integer	The resulting integer.

Convert - Float To Speed¶

Converts a float number to a speed value with unit.

	Name	Data type	Description
Inputs	Float Number	Float	The float number to convert into a speed value.
	Speed Unit	Select	The speed unit for the speed value. Available are M/S, DEG/S and %.

Outputs	Speed Value	Speed	The resulting speed.

Convert - Integer To String¶

Converts an integer number to string.

	Name	Data type	Description
Inputs	Number	Integer	The integer number to convert into a string.

Outputs	Text	String	The resulting string.

Convert - Integer To Float¶

Converts an integer number to float.

	Name	Data type	Description
Inputs	Number	Integer	The integer number to convert into a float.

Outputs	Cast Result	Float	The resulting float.

Convert - String to Boolean¶

Casts a string variable to a boolean.

	Name	Data type	Description
Inputs	Value	String	The string value to cast into boolean. The input string is case insensitive. The strings true, on, high, active, enabled and closed are converted to True. The strings false, off, low, inactive, disabled and open are converted to False. For other values an exception is thrown.

Outputs	Cast Result	Boolean	The result of the type casting.

Exceptions	E_CAST	-	The exception is raised, if the string can not be converted to a boolean.

Convert - String to Float¶

Casts a string variable to an integer.

	Name	Data type	Description
Inputs	Value	String	The string value to cast into integer.

Outputs	Cast Result	Integer	The result of the type casting.

Exceptions	E_CAST	-	The exception is raised, if the string can not be converted to a float.

Convert - String to Integer¶

Casts a string variable to an integer.

	Name	Data type	Description
Inputs	Value	String	The string value to cast into integer.

Outputs	Cast Result	Integer	The result of the type casting.

Exceptions	E_CAST	-	The exception is raised, if the string can not be converted to an integer.

Get Timestamp¶

Returns the current UNIX timestamp, which is seconds since January 1^st, 1970 at UTC.

	Name	Data type	Description
Inputs	-

Outputs	Timestamp	Float	The current system timestamp.

Joints Transformation¶

Adds an offset to a given joint state.

	Name	Data type	Description
Inputs	Origin	Joints	The original joints state.
	Offset	Joints	The offset joints state.

Outputs	Result	Joints	The resulting joints state.

Logic¶

Performs a basic logic operation on two boolean values. The operations are: AND, OR and XOR.

	Name	Data type	Description
Inputs	Operand 1	Boolean	The first operand of the operation.
	Operation	Select	The chosen logic operation. Available are AND, OR and XOR.
	Operand 2	Boolean	The second operand of the operation.

Outputs	Result	Boolean	The result of the operation.

Logic Bitwise¶

Performs basic logic bitwise operations on two integers. The operations are: AND, OR and XOR. Returns the result as boolean and as integer value.

	Name	Data type	Description
Inputs	Operand 1	Integer	The first operand of the operation.
	Operation	Select	The chosen bitwise logic operation. AND will return true if at least one bit is set in both values. OR will return true if at least one bit is set in any of both values. XOR will return true if all respective bits from both values are unequal and false if any of respective bits from both values are equal.
	Operand 2	Integer	The second operand of the operation.

Outputs	Boolean Result	Boolean	The boolean result of the operation.
	Integer Result	Integer	The integer result of the operation.

Math - Float¶

Performs a basic arithmetic operation on two float values. The operations are: Addition, Subtraction, Multiplication, Division, Modulo and Exponent.

	Name	Data type	Description
Inputs	Operand 1	Float	The first operand of the operation.
	Operation	Select	The chosen arithmetic operation. Available are +, -, , /, modulo* and ^.
	Operand 2	Float	The second operand of the operation.

Outputs	Result	Float	The result of the operation.

Exceptions	DIVISION_BY_ZERO	-	The exception is raised, if a division by zero is attempted.

Math - Integer¶

Performs a basic arithmetic operation on two integer values. The operations are: Addition, Subtraction, Multiplication, Division, Modulo and Exponent.

	Name	Data type	Description
Inputs	Operand 1	Integer	The first operand of the operation.
	Operation	Select	The chosen arithmetic operation. Available are +, -, , /, modulo* and ^.
	Operand 2	Integer	The second operand of the operation.

Outputs	Result	Integer	The result of the operation.

Exceptions	DIVISION_BY_ZERO	-	The exception is raised, if a division by zero is attempted.

Pose Checker - Box - Absolute¶

Checks, whether a given position is inside a defined simple box. The faces of the simple box are orientated along the worlds coordinate systems main axes. All faces of the box have to be defined.

	Name	Data type	Description
Inputs	Position	Position	The position to check.
	X min	float	Position of the box face facing towards the negative x axis of the world coordinate system in meters.
	X max	float	Position of the box face facing towards the positive x axis of the world coordinate system in meters.
	Y min	float	Position of the box face facing towards the negative y axis of the world coordinate system in meters.
	Y max	float	Position of the box face facing towards the positive y axis of the world coordinate system in meters.
	Z min	float	Position of the box face facing towards the negative z axis of the world coordinate system in meters.
	Z max	float	Position of the box face facing towards the positive z axis of the world coordinate system in meters.

Outputs	Success	Boolean	True, if the given position is inside the defined box. False otherwise.

Pose Checker - Box - Relative¶

Checks, whether a given position is inside a defined simple box. The faces of the simple box are orientated along the worlds coordinate systems main axes. All faces of the box have to be defined by stating a reference point for the box and a distance for each direction.

	Name	Data type	Description
Inputs	Position	Position	The position to check.
	Box Position Offset: X	float	Offset of the box in x axis of the world coordinate system in meters.
	Box Position Offset: Y	float	Offset of the box in y axis of the world coordinate system in meters.
	Box Position Offset: Z	float	Offset of the box in z axis of the world coordinate system in meters.
	Box Dimension Negative Direction: X	float	Position of the box face relative to the offset facing towards the negative x axis of the world coordinate system in meters.
	Box Dimension Negative Direction: Y	float	Position of the box face relative to the offset facing towards the negative y axis of the world coordinate system in meters.
	Box Dimension Negative Direction: Z	float	Position of the box face relative to the offset facing towards the negative z axis of the world coordinate system in meters.
	Box Dimension Positive Direction: X	float	Position of the box face relative to the offset facing towards the positive x axis of the world coordinate system in meters.
	Box Dimension Positive Direction: Y	float	Position of the box face relative to the offset facing towards the positive y axis of the world coordinate system in meters.
	Box Dimension Positive Direction: Z	float	Position of the box face relative to the offset facing towards the positive z axis of the world coordinate system in meters.

Outputs	Success	Boolean	True, if the given position is inside the defined box. False otherwise.

Pose Checker - Box - Complex¶

Checks, whether a given position is inside a defined box. The faces of the simple box are along the boxes coordinate axes. All faces of the box have to be defined by stating a reference pose for the box and a distance for each direction.

	Name	Data type	Description
Inputs	Position	Position	The position to check.
	Box Pose	Pose	Offset pose of the box.
	Box Dimension Negative Direction: X	Float	Position of the box face relative to the offset facing towards the negative x axis of the box coordinate system in meters.
	Box Dimension Negative Direction: Y	Float	Position of the box face relative to the offset facing towards the negative y axis of the box coordinate system in meters.
	Box Dimension Negative Direction: Z	Float	Position of the box face relative to the offset facing towards the negative z axis of the box coordinate system in meters.
	Box Dimension Positive Direction: X	Float	Position of the box face relative to the offset facing towards the positive x axis of the box coordinate system in meters.
	Box Dimension Positive Direction: Y	Float	Position of the box face relative to the offset facing towards the positive y axis of the box coordinate system in meters.
	Box Dimension Positive Direction: Z	Float	Position of the box face relative to the offset facing towards the positive z axis of the box coordinate system in meters.

Outputs	Success	Boolean	True, if the given position is inside the defined box. False otherwise.

Pose Transformation¶

Transforms an offset to a given pose.

	Name	Data type	Description
Inputs	Origin Pose	Pose	The origin pose.
	Offset Pose	Pose	The offset pose.
	Difference	Boolean	If true, the difference between the two poses is calculated: result = origin - offset in 3D. If false, the offset pose is appended to the origin pose: result = origin + offset in 3D.

Outputs	Result Pose	Pose	The calculated transformation pose.