SMC_Matrix3_ToZYZ_deg (FUN) ¶ FUNCTION SMC_Matrix3_ToZYZ_deg : BOOL Computes the angles ZYZ euler angles A, B, and C from a rotation matrix mR. It is assumed that mR is a rotation matrix, i.e. that mR*mR^T = I and det(mR) = 1. The angles are in the following ranges: -180 < A, C <= 180, 0 <= B <= 180. Postcondition: mR = Rz(A) * Ry(B) * Rz(C). Note In singular configurations, that is if B = 0° or B = 180°, C is set to 0° to make the representation unique. InOut: Scope Name Type Comment Return SMC_Matrix3_ToZYZ_deg BOOL Inout Const mR SMC_Matrix3 The rotation matrix Output dA_deg LREAL Rotation around Z-axis in degree dB_deg LREAL Rotation around Y’-axis in degree dC_deg LREAL Rotation around Z’-axis in degree
SMC_Matrix3_Translate (FUN) ¶ FUNCTION SMC_Matrix3_Translate : BOOL Transposes a 3x3 matrix in-place. This is a misspelled function, see SMC_Matrix3_TransposeI and SMC_Matrix3_Transpose . InOut: Scope Name Type Inout M SMC_Matrix3 Return SMC_Matrix3_Translate BOOL
SMC_Matrix3_Transpose (FUN) ¶ FUNCTION SMC_Matrix3_Transpose : BOOL Transposes a 3x3 matrix. InOut: Scope Name Type Inout mDst SMC_Matrix3 Inout Const mSrc SMC_Matrix3 Return SMC_Matrix3_Transpose BOOL
SMC_Matrix3_TransposeI (FUN) ¶ FUNCTION SMC_Matrix3_TransposeI Transposes a 3x3 matrix in-place. InOut: Scope Name Type Inout M SMC_Matrix3 Output SMC_Matrix3_Transpose BOOL
Misc ¶ SMC_CloseRel (Function) SMC_ClothoidEval (Function) SMC_ComputePlaneNormal3Points (Function) SMC_CretaeRCSFromZAxis (Function) SMC_DistAngle (Function) SMC_DynV3State (Struct) SMC_Implies (Function) SMC_Interpolate (Function) SMC_IsPowerOf2 (Function) SMC_NthRoot (Function) SMC_Seq_InitEmpty (Function) SMC_Seq_Order (Enum) SMC_ceil (Function) SMC_floor (Function) SMC_truncate (Function)
SMC_CloseRel (FUN) ¶ FUNCTION SMC_CloseRel : BOOL Returns whether the relative difference between a and b is less than eps. InOut: Scope Name Type Comment Input a LREAL b LREAL The first value to compare eps LREAL The second value to compare Return SMC_CloseRel BOOL
SMC_ClothoidEval (FUN) ¶ FUNCTION SMC_ClothoidEval : BOOL Computes a clothoid given by the equation v = Int(0, lambda, (cos(t^2)), sin(t^2))). InOut: Scope Name Type Return SMC_ClothoidEval BOOL Inout v SMC_VECTOR3D Input dLambda LREAL
SMC_Polynomial_Serialize (FUN) ¶ FUNCTION SMC_Polynomial_Serialize : BOOL InOut: Scope Name Type Return SMC_Polynomial_Serialize BOOL Input stream SM0.IOutStream Inout Const poly SMC_Polynomial
Quaternion ¶ SMC_Quat (Struct) SMC_Quat1_AxisAngle (Function) SMC_Quat1_Delta (Function) SMC_Quat1_Derive (Function) SMC_Quat1_Exp (Function) SMC_Quat1_From_RotMatrix (Function) SMC_Quat1_Ln (Function) SMC_Quat1_RotDist (Function) SMC_Quat1_Slerp (Function) SMC_Quat1_To_RotMatrix (Function) SMC_Quat_Add (Function) SMC_Quat_ApplyRotation (Function) SMC_Quat_Compose (Function) SMC_Quat_Conj (Function) SMC_Quat_Decompose (Function) SMC_Quat_DistE (Function) SMC_Quat_Dot (Function) SMC_Quat_Equals (Function) SMC_Quat_Init (Function) SMC_Quat_InitV (Function) SMC_Quat_Inv (Function) SMC_Quat_IsRotation (Function) SMC_Quat_Mult (Function) SMC_Quat_MultS (Function) SMC_Quat_NormE (Function) SMC_Quat_Prod (Function) SMC_Quat_Serialize (Function) SMC_Quat_Sub (Function)
SMC_Quat (STRUCT) ¶ TYPE SMC_Quat : STRUCT Represents a quaternion. InOut: Name Type Comment dR LREAL The real part dI LREAL The first imaginary part dJ LREAL The second imaginary part dK LREAL The third imaginary part