SMC_Matrix3_ApplyQuat (FUN) ¶ FUNCTION SMC_Matrix3_ApplyQuat Multiplies a matrix mR with the imaginary vector of a quaternion: qDst := (qSrc.r, mR * (qSrc.i, qSrc.j, qSrc.k)). InOut: Scope Name Type Inout qDst SMC_Quat Inout Const mR SMC_Matrix3 qSrc SMC_Quat
SMC_Matrix3_Equals (FUN) ¶ FUNCTION SMC_Matrix3_Equals : BOOL InOut: Scope Name Type Inout Const mR1 SMC_Matrix3 mR2 SMC_Matrix3 Return SMC_Matrix3_Equals BOOL
SMC_Matrix3_FromAxisAngle (FUN) ¶ FUNCTION SMC_Matrix3_FromAxisAngle Computes a rotation matrix from the axis/angle representation, that is the axis of rotation multiplied by the angle in radian. InOut: Scope Name Type Comment Inout mR SMC_Matrix3 Out: the resulting rotation matrix Inout Const vAxisAngle SMC_VECTOR3D The (unit) axis of rotation multiplied by the angle in rad.
SMC_Frame_Invert (FUN) ¶ FUNCTION SMC_Frame_Invert Inverts a frame in-place. The resulting frame represents the inverse transformation. InOut: Scope Name Type Inout f SMC_Frame
SMC_Frame_IsIdentity (FUN) ¶ FUNCTION SMC_Frame_IsIdentity : BOOL InOut: Scope Name Type Inout Const f SMC_Frame Return SMC_Frame_IsIdentity BOOL
SMC_Frame_Mult (FUN) ¶ FUNCTION SMC_Frame_Mult Multiplies the two frames frLhs and frRhs. The resulting frame represents the concatenation of the two transformations frDst(v) = frLhs(frRhs(v)). In other words: frDst is the coordinate system frLhs expressed in the base coordinate system of frRhs. Yet in other words: frDst is the transformation from coordinate system frLhs to the base coordinate system of frRhs. InOut: Scope Name Type Inout frDst SMC_Frame Inout Const frLhs SMC_Frame frRhs SMC_Frame
SMC_Frame_Serialize (FUN) ¶ FUNCTION SMC_Frame_Serialize : BOOL InOut: Scope Name Type Return SMC_Frame_Serialize BOOL Input stream SM0.IOutStream Inout Const f SMC_Frame
SMC_AvoidLoop.SMC_AvoidLoopInit (ACT) ¶
AXIS_REF_sIII_Standard.SetCommandFlag (METH) ¶ METHOD SetCommandFlag : BOOL InOut: Scope Name Type Return SetCommandFlag BOOL Input udiIDN UDINT
SMC_AvoidLoop.SMC_DoBeforeLeave (ACT) ¶