FUNCTION get_kinematic_joints_from_oriented_joints
(ors : SET [0:?] OF oriented_joint) : SET [0:?] OF kinematic_joint;
LOCAL result : SET OF kinematic_joint := []; END_LOCAL; IF SIZEOF(ors) > 0 THEN REPEAT i := 1 TO HIINDEX(ors); result := result + ors[i].edge_element; END_REPEAT; END_IF; RETURN (result);