Regular API function

simRMLMoveToPosition / sim.rmlMoveToPosition

Description DEPRECATED. See sim.moveToPose instead.
C/C++
synopsis
C/C++
parameters
C/C++
return value
Lua
synopsis
int result,float[3] newPos,float[4] newQuaternion,float[4] newVel,float[4] newAccel,float timeLeft=sim.rmlMoveToPosition(int objectHandle,int relativeToObjectHandle,int flags,float[4] currentVel,float[4] currentAccel,float[4] maxVel,float[4] maxAccel,float[4] maxJerk,float[3] targetPosition,float[4] targetQuaternion,float[4] targetVel)
Lua
parameters
objectHandle: handle of the object to be moved
relativeToObjectHandle: indicates relative to which reference frame the movement data is specified. Specify -1 for a movement relative to the absolute reference frame, sim.handle_parent for a movement relative to the object's parent frame, or an object handle relative to whose reference frame the movement should be performed.
flags: RML flags. -1 for default flags.
currentVel: the current velocity of the object (velX, velY, velZ, velAngle). Can be nil in which case a velocity vector of 0 is used.
currentAccel: the current acceleration of the object (accelX, accelY, accelZ, accelAngle). Can be nil in which case an acceleration vector of 0 is used.
maxVel: the maximum allowed velocity of the object (maxVelX, maxVelY, maxVelZ, maxVelAngle)
maxAccel: the maximum allowed acceleration of the object (maxAccelX, maxAccelY, maxAccelZ, maxAccelAngle)
maxJerk: the maximum allowed jerk of the object (maxJerkX, maxJerkY, maxJerkZ, maxJerkAngle). With the RML type II plugin, the max. jerk will however always be infinite.
targetPosition: the desired target position of the object (expressed relative to relativeToObjectHandle). Can be nil, in which case the position of the object will stay constant
targetQuaternion: the desired target orientation of the object (expressed relative to relativeToObjectHandle). Can be nil, in which case the orientation of the object will stay constant
targetVel: the desired velocity of the object at the target (targetVelX, targetVelY, targetVelZ, targetVelAngle). Can be nil in which case a velocity vector of 0 is used.
Lua
return values
result: 1 if the function call was successful
newPos: the new relative position of the object
newQuaternion: the new relative orientation of the object
newVel: the new velocity vector (velX, velY, velZ, velAngle)
newAccel: the new acceleration vector (accelX, accelY, accelZ, accelAngle)
timeLeft: the time left for additional calculations in current simulation time step