SMC_Vec_Assign (FUN) ¶ FUNCTION SMC_Vec_Assign Assigns one vector to another InOut: Scope Name Type Comment Inout vDst SMC_Vec The destination Inout Const vSrc SMC_Vec The source
SMC_Vec_Cross (FUN) ¶ FUNCTION SMC_Vec_Cross : BOOL Cross product for 3-dimensional vectors: vDst := vLhs x vRhs InOut: Scope Name Type Inout vDst SMC_Vec Inout Const vLhs SMC_Vec vRhs SMC_Vec Return SMC_Vec_Cross BOOL
SMC_RNG_Normal (FB) ¶ FUNCTION_BLOCK FINAL SMC_RNG_Normal Returns pseudo-random LREAL numbers distributed according to the normal distribution (gaussian with mean 0 and standard deviation 1). Uses the Box-Muller transform, see e.g. www.doc.ic.ac.uk/~wl/papers/07/csur07dt.pdf. Methods: Advance GetCur Init Structure: Advance (Method) GetCur (Method) Init (Method)
SMC_RNG_Normal.Advance (METH) ¶ METHOD FINAL Advance
SMC_RNG_Normal.GetCur (METH) ¶ METHOD FINAL GetCur : LREAL InOut: Scope Name Type Return GetCur LREAL
SMC_TripodLinearSolver (FB) ¶ FUNCTION_BLOCK FINAL SMC_TripodLinearSolver Methods: CalculateJointPositions Initialize SolveForward SolveInverse Structure: CalculateJointPositions (Method) Initialize (Method) SolveForward (Method) SolveInverse (Method)
SMC_V3Poly_Derive (FUN) ¶ FUNCTION SMC_V3Poly_Derive : BOOL Derives a vector-valued polynomial and returns the degree. InOut: Scope Name Type Return SMC_V3Poly_Derive BOOL Inout vpDst SMC_V3Poly Inout Const vpSrc SMC_V3Poly
SMC_V3Poly_Dot (FUN) ¶ FUNCTION SMC_V3Poly_Dot : BOOL Computes the polynomial that represents the dot-product of two vector-valued polynomials. The result is a real-valued polynomial of degree vpLhs.deg + vpRhs.deg. Note: vpLhs.deg + vpRhs.deg must be at most MAX_POLY_DEGREE. InOut: Scope Name Type Return SMC_V3Poly_Dot BOOL Inout pDot SMC_Polynomial Inout Const vpLhs SMC_V3Poly vpRhs SMC_V3Poly
SMC_V3Poly_DotSq (FUN) ¶ FUNCTION SMC_V3Poly_DotSq : BOOL Computes the polynomial that represents the dot-product of a vector-valued polynomial with itself. The result is a real-valued polynomial of degree 2*vp.deg. This is an optimized function that can be used instead of calling SMC_V3Poly_Dot(vp, vp). Note: 2*vp.deg must be at most MAX_POLY_DEGREE. InOut: Scope Name Type Return SMC_V3Poly_DotSq BOOL Inout pDot SMC_Polynomial Inout Const vp SMC_V3Poly
SMC_V3Poly_Eval (FUN) ¶ FUNCTION SMC_V3Poly_Eval : BOOL Evaluates a polynomial a[0] + … + a[pv.deg]*x^pv.deg InOut: Scope Name Type Comment Inout Const vp SMC_V3Poly Input dx LREAL The place of evaluation Inout v SMC_VECTOR3D Return SMC_V3Poly_Eval BOOL