Basic Characteristics RAPID

Expressions Basic Characteristics RAPID
7 Expressions
An expression specifies the evaluation of a value. It can be used, for example:
7.1 Arithmetic expressions
- in an assignment instruction e.g. a:=3*b/c;
- as a condition in an IF instruction e.g. IF a>=3 THEN ...
- as an argument in an instruction e.g. WaitTime time;
- as an argument in a function call e.g. a:=Abs(3*b);
An arithmetic expression is used to evaluate a numeric value.
Example: 2*pi*radius
Table 2 shows the different types of operations possible.
Table 2
Operator Operation Operand types Result type
+ addition num + num num 3)
+ unary plus; keep sign +num or +pos same 1)3)
+ vector addition pos + pos pos
- subtraction num - num num 3)
- unary minus; change sign -num or -pos same 1)3)
- vector subtraction pos - pos pos
* multiplication num * num num 3)
* scalar vector multiplication num * pos or pos * num pos
* vector product pos * pos pos
* linking of rotations orient * orient orient
/ division num / num num
DIV 2)
MOD 2)
integer division num DIV num num
integer modulo; remainder num MOD num num
1. The result receives the same type as the operand. If the operand has an alias
data type, the result receives the alias "base" type (num or pos).
2. Integer operations, e.g. 14 DIV 4=3, 14 MOD 4=2.
(Non-integer operands are illegal.)
3. Preserves integer (exact) representation as long as operands and result are kept
within the integer subdomain of the num type.
5-26 RAPID Reference Manual