SMC_floor (FUN) ¶ FUNCTION SMC_floor : LREAL InOut: Scope Name Type Input x LREAL Return SMC_floor LREAL
SMC_truncate (FUN) ¶ FUNCTION SMC_truncate : LREAL InOut: Scope Name Type Input x LREAL Return SMC_truncate LREAL
Polynomial Functions ¶ SMC_Polynomial_Serialize (Function)
SMC_CalcBisectingPlane (FUN) ¶ FUNCTION SMC_CalcBisectingPlane : BOOL Calculates the bisecting plane h of the two points p0 and p1 , i.e. each point on the resulting plane has equal distance to p0 and p1 . InOut: Scope Name Type Return SMC_CalcBisectingPlane BOOL Inout h SMC_Plane Inout Const p0 SMC_VECTOR3D p1 SMC_VECTOR3D
SMC_IntersectLineWithSphere (FUN) ¶ FUNCTION SMC_IntersectLineWithSphere : UDINT Computes the intersections of line l and a sphere with radius r and center c . Returns the number of intersections (0, 1 or 2) and an array of intersection points. InOut: Scope Name Type Return SMC_IntersectLineWithSphere UDINT Inout roots ARRAY [0..1] OF SMC_VECTOR3D Inout Const l SMC_Line3D c SMC_Vector3D Input radius LREAL
SMC_IntersectPlanes (FUN) ¶ FUNCTION SMC_IntersectPlanes : BOOL Calculate the intersection, a line l , of the planes h0 and h1 . Fails if h0 and h1 are parallel. InOut: Scope Name Type Return SMC_IntersectPlanes BOOL Inout l SMC_Line3D Inout Const h0 SMC_Plane h1 SMC_Plane
SMC_Line3D (STRUCT) ¶ TYPE SMC_Line3D : STRUCT 3D line y = p + n*x InOut: Name Type p SMC_Vector3D n SMC_Vector3D
SMC_Plane (STRUCT) ¶ TYPE SMC_Plane : STRUCT 3D plane in Hesse normal form, i.e the plane consist of all points x, such that <x,n> - d = 0 InOut: Name Type n SMC_VECTOR3D d LREAL
SMC_SetVec (FUN) ¶ FUNCTION SMC_SetVec : BOOL InOut: Scope Name Type Return SMC_SetVec BOOL Input x LREAL y LREAL z LREAL pa POINTER TO ARRAY [0..2] OF LREAL
SMC_SolveEulerWrist (FUN) ¶ FUNCTION SMC_SolveEulerWrist : BOOL Solves the inverse kinematics of an euler wrist, i.e. a robot hand built from three rotary joints whose axes intersect in a single point. The three joints 4, 5, and 6 are assumed to be arranged according to the following Denavit-Hartenberg parameters: i Joint angle (offset) [deg] Link offset [u] Link length [u] Link twist [deg] 4 0 d4 0 90 5 0 0 0 -90 6 0 d6 0 0 InOut: Scope Name Type Comment Return SMC_SolveEulerWrist BOOL Inout Const mOTool SMC_Matrix3 The orientation of the tool as a matrix. The columns of the matrix are the unit vectors of the tool coordinate system, expressed in world coordinates. Used read-only. Input bHandDown BOOL To disambiguate the two possible configurations of joint 5 Output q3 LREAL The angle of joint 3 in rad. q4 LREAL The angle of joint 4 in rad. q5 LREAL The angle of joint 5 in rad. bSingularity BOOL True if q4 is (almost) zero. In this case q5 is set to zero (as there is no unique solution for q3 and q5).