SMC_Math_Constants (GVL) ¶ Attributes: qualified_only InOut: Scope Name Type Initial Comment Constant NULL POINTER TO BYTE 0 DINT_MIN DINT -2147483648 DINT_MAX DINT 2147483647 g_aNodes_20 ARRAY [0..19] OF LREAL [-0.076526521133497338, 0.076526521133497338, -0.22778585114164507, 0.22778585114164507, -0.37370608871541955, 0.37370608871541955, -0.51086700195082713, 0.51086700195082713, -0.636053680726515, 0.636053680726515, -0.7463319064601508, 0.7463319064601508, -0.83911697182221878, 0.83911697182221878, -0.912234428251326, 0.912234428251326, -0.96397192727791381, 0.96397192727791381, -0.99312859918509488, 0.99312859918509488] Nodes and weights for gaussian quadrature g_aWeigths_20 ARRAY [0..19] OF LREAL [0.15275338713072584, 0.15275338713072584, 0.14917298647260374, 0.14917298647260374, 0.14209610931838204, 0.14209610931838204, 0.13168863844917664, 0.13168863844917664, 0.11819453196151841, 0.11819453196151841, 0.10193011981724044, 0.10193011981724044, 0.083276741576704755, 0.083276741576704755, 0.062672048334109068, 0.062672048334109068, 0.040601429800386939, 0.040601429800386939, 0.017614007139152118, 0.017614007139152118]
SMC_Vec ¶ SMC_DynVecState (Struct) SMC_DynVecState_Assign (Function) SMC_DynVecState_Eq (Function) SMC_DynVecState_Mult (Function) SMC_Vec (Struct) SMC_Vec_Add (Function) SMC_Vec_Angle (Function) SMC_Vec_Assign (Function) SMC_Vec_Cross (Function) SMC_Vec_DistE (Function) SMC_Vec_DistMax (Function) SMC_Vec_Dot (Function) SMC_Vec_DotSq (Function) SMC_Vec_Ei (Function) SMC_Vec_Eq (Function) SMC_Vec_Lint (Function) SMC_Vec_MAdd (Function) SMC_Vec_Max_Cmp (Function) SMC_Vec_Min_Cmp (Function) SMC_Vec_Mult (Function) SMC_Vec_NormE (Function) SMC_Vec_NormMax (Function) SMC_Vec_SMAdd (Function) SMC_Vec_Serialize (Function) SMC_Vec_Set1 (Function) SMC_Vec_Set2 (Function) SMC_Vec_Set3 (Function) SMC_Vec_SetN (Function) SMC_Vec_SetP (Function) SMC_Vec_Sub (Function) SMC_Vec_Sum_Kahan (FunctionBlock) SMC_Vec_Zero (Function)
SMC_Quat_Inv (FUN) ¶ FUNCTION SMC_Quat_Inv Computes the inverse quaternion, i.e. the quaternion which, when multiplied with q, yields 1. q must nut be 0. InOut: Scope Name Type Inout qInv SMC_Quat Inout Const q SMC_Quat
SMC_Quat_IsRotation (FUN) ¶ FUNCTION SMC_Quat_IsRotation : BOOL Returns whether the given quaternion represents a rotation, i.e. whether the euclidean norm is 1. InOut: Scope Name Type Inout Const q SMC_Quat Input dEpsRel LREAL Return SMC_Quat_IsRotation BOOL
SMC_Quat_Mult (FUN) ¶ FUNCTION SMC_Quat_Mult InOut: Scope Name Type Inout qDst SMC_Quat Inout Const qLhs SMC_Quat qRhs SMC_Quat
SMC_Quat_MultS (FUN) ¶ FUNCTION SMC_Quat_MultS Multiplies a quaternion with a scalar. InOut: Scope Name Type Inout qDst SMC_Quat Inout Const qLhs SMC_Quat Input rhs LREAL
SMC_Quat_NormE (FUN) ¶ FUNCTION SMC_Quat_NormE : LREAL Computes the euclidean norm of a quaternion InOut: Scope Name Type Inout Const q SMC_Quat Return SMC_Quat_NormE LREAL
SMC_Quat_Prod (FUN) ¶ FUNCTION SMC_Quat_Prod Computes the product qIn * Product(i <= k <= j, pQs[k]). InOut: Scope Name Type Inout qDst SMC_Quat Inout Const qIn SMC_Quat Input pQs POINTER TO SMC_Quat i UDINT j UDINT Output SMC_QuatProd BOOL
SMC_Quat_Serialize (FUN) ¶ FUNCTION SMC_Quat_Serialize : BOOL InOut: Scope Name Type Return SMC_Quat_Serialize BOOL Input stream SM0.IOutStream Inout Const q SMC_Quat
SMC_Quat_Sub (FUN) ¶ FUNCTION SMC_Quat_Sub : BOOL InOut: Scope Name Type Return SMC_Quat_Sub BOOL Inout qDst SMC_Quat Inout Const qLhs SMC_Quat qRhs SMC_Quat