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FUNCTION representation_of_link (link : kinematic_link) : kinematic_link_representation; LOCAL link_rep_rel : BAG OF kinematic_link_representation_relation ; END_LOCAL ; link_rep_rel := USEDIN ( link , 'kinematic_structure_schema.' + 'kinematic_link_representation_relation.' + 'topological_aspects' ) ; IF ( SIZEOF ( link_rep_rel ) = 0 ) THEN RETURN ( ? ) ; ELSE RETURN ( link_rep_rel [ 1 ] . geometric_aspects ) ; END_IF ; END_FUNCTION; -- representation_of_link |
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public class FRepresentation_of_link public static Value run(SdaiContext _context, Value link) |