Frame ¶ SMC_Frame (Struct) SMC_Frame_ApplyDir (Function) SMC_Frame_ApplyDynV3State (Function) SMC_Frame_ApplyPos (Function) SMC_Frame_Delta (Function) SMC_Frame_DenavitHartenberg (Function) SMC_Frame_DenavitHartenbergI (Function) SMC_Frame_Derive (Function) SMC_Frame_Dist (Function) SMC_Frame_Equals (Function) SMC_Frame_Inverse (Function) SMC_Frame_Invert (Function) SMC_Frame_IsIdentity (Function) SMC_Frame_Mult (Function) SMC_Frame_Serialize (Function)
SMC_Interpolator.SMC_InterpolatorInit (ACT) ¶
SMC_Frame (STRUCT) ¶ TYPE SMC_Frame : STRUCT A frame represents a coordinate system given by the orientation of the axes and origin vector. The representation of the coordinate system is always expressed relative to a base coordinate system. Another interpretation of a frame is the unique transformation between the represented coordinate system C and the base coordinate system B, a map F from C to B given by F(v) = mR * v + vT, where v is a vector expressed in C and F(v) is its representation in B. InOut: Name Type Comment mR SMC_Matrix3 The orientation of the axes. Each column is a unit vector describing the direction of a coordinate axis of F, expressed in base coordinates. vT SMC_Vector3D The offset of the origin in base coordinates.
SMC_Interpolator.SMC_InterpolatorNewObject (ACT) ¶ number of sub element = number of element with identical iSourceLine_No
SMC_Frame_ApplyDir (FUN) ¶ FUNCTION SMC_Frame_ApplyDir Applies a coordinate transformation F to a direction vector: vDst = F.mR * vDir. Thus, the direction vDir is transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout vDst SMC_Vector3D The tranformed direction vector Inout Const F SMC_Frame The transformation to apply vDir SMC_Vector3D The source direction vector
SMC_Interpolator.SMC_IsResegmentationDesired (ACT) ¶ If dOverride or single step change, or if the queue changed and the velocity profile has been computed up to the end of the queue, or if an m-function has been preacknowledged (bRecheckVelocities), a fresh computation of the segments is desired.
SMC_Frame_ApplyDynV3State (FUN) ¶ FUNCTION SMC_Frame_ApplyDynV3State Applies a coordinate transformation F to a DynV3State. Thus, the position and derivateives are transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout urDst SMC_DynV3State The tranformed output Inout Const F SMC_Frame The transformation to apply urSrc SMC_DynV3State The source position vector
SMC_Interpolator.SMC_ResetOutputs (ACT) ¶
SMC_Frame_ApplyPos (FUN) ¶ FUNCTION SMC_Frame_ApplyPos Applies a coordinate transformation F to a position vector: vDst = F.mR * vPos + F.vT. Thus, the position vPos is transformed from coordinate system F to the base coordinate system of F. InOut: Scope Name Type Comment Inout vDst SMC_Vector3D The tranformed position vector Inout Const F SMC_Frame The transformation to apply vPos SMC_Vector3D The source position vector
SMC_Interpolator2Dir.Interpolator2DirInit (ACT) ¶