SMC_Vec_Lint (FUN) ¶ FUNCTION SMC_Vec_Lint : BOOL Linearly interpolates between two vectors: vDst := vLhs*(1-lambda) + vRhs*lambda. InOut: Scope Name Type Inout vDst SMC_Vec Inout Const vLhs SMC_Vec vRhs SMC_Vec Input lambda LREAL Return SMC_Vec_Lint BOOL
SMC_Vec_Max_Cmp (FUN) ¶ FUNCTION SMC_Vec_Max_Cmp : BOOL Computes the component-wise maximum of two vectors. Both vectors must have the same dimension. InOut: Scope Name Type Inout vDst SMC_Vec Inout Const v0 SMC_Vec v1 SMC_Vec Return SMC_Vec_Max_Cmp BOOL
SMC_Vec_MAdd (FUN) ¶ FUNCTION SMC_Vec_MAdd : BOOL Multiply-And-Add: vDst := vLhs + d * vRhs InOut: Scope Name Type Inout vDst SMC_Vec Inout Const vLhs SMC_Vec vRhs SMC_Vec Input d LREAL Return SMC_Vec_MAdd BOOL
SMC_DynVecState (STRUCT) ¶ TYPE SMC_DynVecState : STRUCT Represents some vector quantity and the first two derivatives InOut: Name Type v SMC_Vec v_s SMC_Vec v_ss SMC_Vec
SMC_DynVecState_Assign (FUN) ¶ FUNCTION SMC_DynVecState_Assign InOut: Scope Name Type Inout uvDst SMC_DynVecState Inout Const uvSrc SMC_DynVecState
SMC_DynVecState_Eq (FUN) ¶ FUNCTION SMC_DynVecState_Eq : BOOL InOut: Scope Name Type Inout Const uv0 SMC_DynVecState uv1 SMC_DynVecState Return SMC_DynVecState_Eq BOOL
SMC_DynVecState_Mult (FUN) ¶ FUNCTION SMC_DynVecState_Mult InOut: Scope Name Type Inout uvDst SMC_DynVecState Inout Const uvSrc SMC_DynVecState Input d LREAL
SMC_Vec (STRUCT) ¶ TYPE SMC_Vec : STRUCT Vector of size at most MAX_VEC_DIM. InOut: Name Type Comment a ARRAY [0..(SMC_MAX_VEC_DIM - 1)] OF LREAL The coefficient array n DINT Number of entries
SMC_Vec_Add (FUN) ¶ FUNCTION SMC_Vec_Add : BOOL Adds two vectors InOut: Scope Name Type Comment Inout vDst SMC_Vec The result Inout Const vLhs SMC_Vec The left hand side vRhs SMC_Vec The right hand side Return SMC_Vec_Add BOOL
SMC_Vec_Angle (FUN) ¶ FUNCTION SMC_Vec_Angle : LREAL Computes the angle (in radian) between two 3d-vectors. Note: if one of the vectors has zero length, the result is zero. The returned value is in the range [0 .. pi]. InOut: Scope Name Type Inout Const v1 SMC_Vec v2 SMC_Vec Return SMC_Vec_Angle LREAL