SMC_TripodLinearSolver.SolveForward (METH) ¶ METHOD FINAL SolveForward : BOOL InOut: Scope Name Type Inout vTCP SMC_VECTOR3D Input a0 LREAL a1 LREAL a2 LREAL Return SolveForward BOOL
SMC_TripodLinearSolver.SolveInverse (METH) ¶ METHOD FINAL SolveInverse : BOOL InOut: Scope Name Type Inout Const vTCP SMC_VECTOR3D Input bCheckPosition BOOL dSingularityTolerance LREAL Return SolveInverse BOOL Output a0 LREAL a1 LREAL a2 LREAL bSingularPosition BOOL bNegativeDrivePosition BOOL
SMC_TripodRotarySolver (FB) ¶ FUNCTION_BLOCK FINAL SMC_TripodRotarySolver Methods: Initialize SolveForward SolveInverse Structure: Initialize (Method) SolveForward (Method) SolveInverse (Method)
SMC_TripodRotarySolver.Initialize (METH) ¶ METHOD FINAL Initialize : BOOL InOut: Scope Name Type Comment Return Initialize BOOL Input dArmLength1 LREAL dArmLength2 LREAL dArm1Radius LREAL dStewartRadius LREAL dDistance LREAL dMaxAngleBallJoint_deg LREAL Maximum positive/negative angle for ball joints in degrees
SMC_TripodRotarySolver.SolveForward (METH) ¶ METHOD FINAL SolveForward : BOOL InOut: Scope Name Type Inout vTCP SMC_VECTOR3D Input a0 LREAL a1 LREAL a2 LREAL Return SolveForward BOOL
SMC_TripodRotarySolver.SolveInverse (METH) ¶ METHOD FINAL SolveInverse : BOOL InOut: Scope Name Type Inout Const vTCP SMC_VECTOR3D Return SolveInverse BOOL Output a0 LREAL a1 LREAL a2 LREAL
V3Poly ¶ SMC_V3Poly (Struct) SMC_V3Poly5_Create (Function) SMC_V3Poly_Add (Function) SMC_V3Poly_Derive (Function) SMC_V3Poly_Dot (Function) SMC_V3Poly_DotSq (Function) SMC_V3Poly_Eval (Function) SMC_V3Poly_EvalDerivs (Function) SMC_V3Poly_Init (Function) SMC_V3Poly_MultScalarPoly (Function) SMC_V3Poly_Sub (Function)
SMC_V3Poly5_Create (FUN) ¶ FUNCTION SMC_V3Poly5_Create : BOOL InOut: Scope Name Type Comment Return SMC_V3Poly5_Create BOOL Inout vp SMC_V3Poly The polynomial must hold enough space for at least 6 elements Inout Const r0 SMC_DynV3State r1 SMC_DynV3State
SMC_V3Poly (STRUCT) ¶ TYPE SMC_V3Poly : STRUCT Represents a vector-valued polynomial pv(x) = sum(0 <= i <= deg, pa[i] * x^i) InOut: Name Type Comment ad POINTER TO SMC_VECTOR3D The coefficient array, containing at least maxDeg+1 elements deg DINT The degree of the polynomial, must be non-negative nad at most maxDeg. maxDeg DINT The maxmimum degree of the polynomial, must be non-negative
SMC_V3Poly_Add (FUN) ¶ FUNCTION SMC_V3Poly_Add : BOOL Adds two vector-valued polynomials InOut: Scope Name Type Comment Return SMC_V3Poly_Add 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