SMC_V3Poly_EvalDerivs (FUN) ¶ FUNCTION SMC_V3Poly_EvalDerivs : BOOL Evaluates a polynomial a[0] + … + a[pv.deg]*x^pv.deg and its three derivatives InOut: Scope Name Type Comment Inout Const vp SMC_V3Poly Input dx LREAL The place of evaluation Inout v SMC_DynV3State Return SMC_V3Poly_EvalDerivs BOOL
SMC_V3Poly_Init (FUN) ¶ FUNCTION SMC_V3Poly_Init : BOOL InOut: Scope Name Type Return SMC_V3Poly_Init BOOL Inout vp SMC_V3Poly Input pAd POINTER TO SMC_VECTOR3D deg DINT maxDeg DINT
SMC_V3Poly_MultScalarPoly (FUN) ¶ FUNCTION SMC_V3Poly_MultScalarPoly : BOOL Computes the polynomial that represents the product of a vector-valued polynomial with a scalar polynomial. The result is a real-valued polynomial of degree vp.deg + ps.deg. Note: vpDst must hold vp.deg + ps.deg + 1 coefficients. InOut: Scope Name Type Comment Return SMC_V3Poly_MultScalarPoly BOOL Inout vpDst SMC_V3Poly Must have enough place for ps.deg + vp.deg + 1 coefficients Inout Const ps SMC_Polynomial vp SMC_V3Poly
SMC_V3Poly_Sub (FUN) ¶ FUNCTION SMC_V3Poly_Sub : BOOL Subtracts two vector-valued polynomials InOut: Scope Name Type Comment Return SMC_V3Poly_Sub BOOL Inout vpDst SMC_V3Poly The result polynomial, must have place for MAX(pvLhs.deg,pvRhs.deg)+1 coefficients Inout Const vpLhs SMC_V3Poly vpRhs SMC_V3Poly
Vector ¶ Legacy SMC_AddMultiplicatedVector (Function) SMC_AddVector (Function) SMC_CalcNormVec2D (Function) SMC_CrossProduct (FunctionBlock) SMC_CrossProductNormed (FunctionBlock) SMC_GetMaxComponents (Function) SMC_GetMaxComponents2 (Function) SMC_MakeNormed2D (Function) SMC_MakeNormed3D (Function) SMC_MatrixMult (Function) SMC_MatrixMultT (Function) SMC_MultVector (Function) SMC_Norm2D (Function) SMC_Norm3D (Function) SMC_Rotate2D (Function) SMC_ScalProd2D (Function) SMC_ScalProd3D (Function) SMC_SetVector (Function) SMC_SubVector (Function) SMC_Vec3_DistE (Function) SMC_Vector3DInit (Function) SMC_Vector3D_RotX (Function) SMC_Vector3D_RotZ (Function) SMC_VectorMult (Function) SMC_XNormed2D (Function) SMC_YNormed2D (Function) SMC_V3_Add (Function) SMC_V3_Angle (Function) SMC_V3_Angle2D (Function) SMC_V3_CloseRel (Function) SMC_V3_Cross (Function) SMC_V3_Derive (Function) SMC_V3_DistE (Function) SMC_V3_Dot (Function) SMC_V3_DotSq (Function) SMC_V3_Equals (Function) SMC_V3_IsScalarMultiple (Function) SMC_V3_Lint (Function) SMC_V3_MAdd (Function) SMC_V3_Max_Cmp (Function) SMC_V3_Min_Cmp (Function) SMC_V3_Mult (Function) SMC_V3_NormE (Function) SMC_V3_NormMax (Function) SMC_V3_SMAdd (Function) SMC_V3_Serialize (Function) SMC_V3_Set (Function) SMC_V3_Sub (Function) SMC_V3_Zero (Function) SMC_VECTOR3D (Struct)
Legacy ¶ SMC_AddMultiplicatedVector (Function) SMC_AddVector (Function) SMC_CalcNormVec2D (Function) SMC_CrossProduct (FunctionBlock) SMC_CrossProductNormed (FunctionBlock) SMC_GetMaxComponents (Function) SMC_GetMaxComponents2 (Function) SMC_MakeNormed2D (Function) SMC_MakeNormed3D (Function) SMC_MatrixMult (Function) SMC_MatrixMultT (Function) SMC_MultVector (Function) SMC_Norm2D (Function) SMC_Norm3D (Function) SMC_Rotate2D (Function) SMC_ScalProd2D (Function) SMC_ScalProd3D (Function) SMC_SetVector (Function) SMC_SubVector (Function) SMC_Vec3_DistE (Function) SMC_Vector3DInit (Function) SMC_Vector3D_RotX (Function) SMC_Vector3D_RotZ (Function) SMC_VectorMult (Function) SMC_XNormed2D (Function) SMC_YNormed2D (Function)
SMC_AddVector (FUN) ¶ FUNCTION SMC_AddVector : BOOL InOut: Scope Name Type Return SMC_AddVector BOOL Input pv1 POINTER TO SMC_Vector3d pv2 POINTER TO SMC_Vector3d pvDst POINTER TO SMC_Vector3D
SMC_AddMultiplicatedVector (FUN) ¶ FUNCTION SMC_AddMultiplicatedVector : BOOL InOut: Scope Name Type Return SMC_AddMultiplicatedVector BOOL Input pv1 POINTER TO SMC_Vector3d pv2 POINTER TO SMC_Vector3d dFactor LREAL pv POINTER TO SMC_Vector3D
SMC_TripodLinearSolver.CalculateJointPositions (METH) ¶ METHOD CalculateJointPositions InOut: Scope Name Type Inout vRailJoints ARRAY [0..2] OF SMC_VECTOR3D vPlateJoints ARRAY [0..2] OF SMC_VECTOR3D Inout Const vTCP SMC_VECTOR3D Input a0 LREAL a1 LREAL a2 LREAL
SMC_TripodLinearSolver.Initialize (METH) ¶ METHOD FINAL Initialize : BOOL InOut: Scope Name Type Return Initialize BOOL Input dOuterRadius LREAL dInnerRadius LREAL dAxisAngle LREAL dDistance LREAL dRodLength LREAL dRotationOffset LREAL dOffsetA LREAL dOffsetB LREAL dOffsetC LREAL