RNG ¶ SMC_RNG_Normal (FunctionBlock) Advance (Method) GetCur (Method) Init (Method) SMC_RNG_U (FunctionBlock) Advance (Method) GetCur (Method) Init (Method)
SMC_Math_Global (GVL) ¶ Attributes: qualified_only InOut: Name Type Initial Comment PosInf LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) LREAL representation of positive infinity NaN LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.NaN) LREAL NaN (Not a Number) value
SMC_Math_Global_Constants (GVL) ¶ InOut: Scope Name Type Initial Comment Constant SMC_PI LREAL 3.1415926535897931 SMC_FACTOR_DEG_TO_RAD LREAL (SMC_PI / 180) SMC_FACTOR_RAD_TO_DEG LREAL (180 / SMC_PI) SMC_MAX_POLY_DEGREE INT 10 maximum degree of polynomials SMC_LREAL_EPS LREAL 2.2204460492503131E-16 The machine epsilon for LREAL values (2^-52). This is the largest LREAL value that, when half of it is added to 1, results in 1. SMC_LREAL_SIGBITS UDINT 53 The number of significant bits of an LREAL SMC_G_EPS LREAL 1E-15 SMC_VECTOR3D_ZERO SMC_Vector3D STRUCT(dX := 0, dY := 0, dZ := 0) SMC_MATRIX3_IDENTITY SMC_Matrix3 STRUCT(aElems := [1, 0, 0, 0, 1, 0, 0, 0, 1]) SMC_QUAT_ZERO SMC_Quat STRUCT(dR := 0, dI := 0, dJ := 0, dK := 0) SMC_QUAT_IDENTITY SMC_Quat STRUCT(dR := 1, dI := 0, dJ := 0, dK := 0) SMC_FRAME_IDENTITY SMC_Frame STRUCT(mR := SMC_MATRIX3_IDENTITY, vT := SMC_VECTOR3D_ZERO) SMC_FRAMEQ_IDENTITY SMC_FrameQ STRUCT(q := SMC_QUAT_IDENTITY, t := SMC_VECTOR3D_ZERO) SMC_MAX_VEC_DIM DINT 6
SMC_Math_Global_NoNamespace (GVL) ¶ InOut: Name Type Initial Comment g_fSMC_CNC_EPS LREAL 1E-06 epsilon value g_fSMC_CNC_EPS_RELUCTANT LREAL 0.0001 epsilon value g_fSMC_CNC_EPS_XROOT LREAL 1E-15 allowed relative error of the root location g_fSMC_CNC_EPS_FROOT LREAL 1E-20 allowed magnitude of the function at the root g_fSMC_CNC_EPS_Q_FROOT LREAL 1E-15 allowed magnitude of the function at the root for the quadratic velocity profile
SMC_Vec_DistE (FUN) ¶ FUNCTION SMC_Vec_DistE : LREAL Computes the euclidean distance of two vectors InOut: Scope Name Type Return SMC_Vec_DistE LREAL Inout Const v0 SMC_Vec v1 SMC_Vec
SMC_Vec_DistMax (FUN) ¶ FUNCTION SMC_Vec_DistMax : LREAL Computes the element-wise maximum distance of two vectors. InOut: Scope Name Type Inout Const v0 SMC_Vec v1 SMC_Vec Return SMC_Vec_DistMax LREAL
SMC_Vec_Dot (FUN) ¶ FUNCTION SMC_Vec_Dot : LREAL Computes the standard scalar product of two vectors InOut: Scope Name Type Return SMC_Vec_Dot LREAL Inout Const v1 SMC_Vec v2 SMC_Vec
SMC_Vec_DotSq (FUN) ¶ FUNCTION SMC_Vec_DotSq : LREAL Computes the standard scalar product of a vector with itself. InOut: Scope Name Type Return SMC_Vec_DotSq LREAL Inout Const v SMC_Vec
SMC_Vec_Ei (FUN) ¶ FUNCTION SMC_Vec_Ei : BOOL Writes the i-th base vector of dimension n to v. The i-th base vector has all components zero except for the i-th component, which is one. InOut: Scope Name Type Inout v SMC_Vec Input i DINT n DINT Return SMC_Vec_Ei BOOL
SMC_Vec_Eq (FUN) ¶ FUNCTION SMC_Vec_Eq : BOOL InOut: Scope Name Type Inout Const v0 SMC_Vec v1 SMC_Vec Return SMC_Vec_Eq BOOL