SMC_Frame_Delta (FUN) ¶ FUNCTION SMC_Frame_Delta Computes the frame fD “between” f0 and f1 such that f1*fD = f0. InOut: Scope Name Type Inout fD SMC_Frame Inout Const f0 SMC_Frame f1 SMC_Frame
SMC_LimitCircularVelocity.SMC_DoBeforeLeave (ACT) ¶
SMC_Frame_DenavitHartenberg (FUN) ¶ FUNCTION SMC_Frame_DenavitHartenberg Computes the affine-linear transformation based on the Denavit Hartenberg parameters. The transformation transforms from the joint coordinate system i to i-1. InOut: Scope Name Type Inout frDst SMC_Frame Input dJointAngle_rad LREAL dLinkOffset_u LREAL dLinkLength_u LREAL dLinkTwist_sin LREAL dLinkTwist_cos LREAL
SMC_LimitCircularVelocity.SMC_LimitCircularVelocityInit (ACT) ¶
SMC_Frame_DenavitHartenbergI (FUN) ¶ FUNCTION SMC_Frame_DenavitHartenbergI Computes the inverse affine-linear transformation based on the Denavit Hartenberg parameters. The transformation transforms from the joint coordinate system i-1 to i. InOut: Scope Name Type Inout frDst SMC_Frame Input dJointAngle_rad LREAL dLinkOffset_u LREAL dLinkLength_u LREAL dLinkTwist_sin LREAL dLinkTwist_cos LREAL
SMC_Frame_Derive (FUN) ¶ FUNCTION SMC_Frame_Derive Computes the numerical derivative of two frames f0 = f(x-h/2), f1 = f(x+h/2) as v = (f1.vT - f0.vT) / h q = ln(q1*q0^(-1)) / h where q0 and q1 are the quaternions corresponding to f0.mR and f1.mR. InOut: Scope Name Type Comment Inout v SMC_Vector3D The difference quotient of the position q SMC_Quat The axis/angle difference quotient expressed as a quaternion Inout Const f0 SMC_Frame The frame evaluated h/2 to the left f1 SMC_Frame The frame evaluated h/2 to the right Input h LREAL The step size, must be <> 0
SMC_LimitDynamics.SMC_AdaptAddAxes (ACT) ¶ check max acceleration
SMC_Frame_Dist (FUN) ¶ FUNCTION SMC_Frame_Dist Computes the distance in position and orientation of two frames. InOut: Scope Name Type Comment Inout Const f1 SMC_Frame f2 SMC_Frame Output dDistCart LREAL The absolute euclidean distance in position dDistOrientation LREAL The absolute difference in orientation, measured in radian.
SMC_LimitDynamics.SMC_AdaptOrientationAddAxes (ACT) ¶ check max acceleration
SMC_Frame_Equals (FUN) ¶ FUNCTION SMC_Frame_Equals : BOOL InOut: Scope Name Type Inout Const f1 SMC_Frame f2 SMC_Frame Return SMC_Frame_Equals BOOL