Hi,

This might be a brainfart but left me wondering... I do not have access to OL or a robot at this moment so i currently have no way of testing this.

If you chain geometric operators multiple times. What will the outcome be?

Suppose you have an array of arbitrary frames lets say F[5].

It is understood that understand that -> ThisWillShiftInBase:F[5]:ThisWillShiftInTool or as stated in the manuals: go to the point on the right side, in relation to the point on the left side. (My first thoughts from this statement is that geometric operator works from left to right, in other words and pseudocode, this happens first ThisWillShiftInBase:F[5] and the result of that is then appended by :ThisWillShiftInTool)

But what becomes of F[1]:F[2]:F[3]:F[4]:F[5] ?

Will F[4] be shifted in the tool frame once by F[5] and F[1]:F[2]:F[3] in base?

Or will F[2] be shifted in base once by F[1] and F[3]:F[4]:F[5] in tool?

You get the point..

Is this even legal in krl?

Can you put parentheses around which way you want the expression to evaluate? Eg. (F[1]:(F[2]:(F[3]:F[4]:F[5]))). I know it is possible to take the explicit result and shift it again with the geometric operator as many times as one wishes.

I have not been able to find anything applicable in the latest SI manual that would quell these thoughts.