DynVState_Lint (FUN) ¶ FUNCTION DynVState_Lint Linearly interpolates between two states: uDst := uLhs*(1-lambda) + uRhs*lambda. InOut: Scope Name Type Inout uDst DynVState Inout Const uLhs DynVState uRhs DynVState Input lambda LREAL
DynVState_Serialize (FUN) ¶ FUNCTION DynVState_Serialize : BOOL InOut: Scope Name Type Return DynVState_Serialize BOOL Input stream SM0.IOutStream Inout Const u DynVState
DynVState_Zero (FUN) ¶ FUNCTION DynVState_Zero InOut: Scope Name Type Inout u DynVState Input n DINT
Matrix ¶ Mat (Struct) Mat_Add (Function) Mat_FromCols3 (Function) Mat_Get (Function) Mat_GetCol (Function) Mat_InitDim (Function) Mat_Mult (Function) Mat_MultV (Function) Mat_MultV_Left (Function) Mat_NormMax (Function) Mat_Set22 (Function) Mat_Set33 (Function) Mat_SetCol (Function) Mat_Sub (Function) Mat_Zero (Function)
Mat (STRUCT) ¶ TYPE Mat : STRUCT Quadratic matrix of size at most MAX_VEC_DIM x MAX_VEC_DIM. InOut: Name Type Comment a ARRAY [0..((SM3M.SMC_MAX_VEC_DIM * SM3M.SMC_MAX_VEC_DIM) - 1)] OF LREAL The coefficient array in row-first order n DINT The number of rows/columns
Mat_Add (FUN) ¶ FUNCTION Mat_Add : BOOL Adds two matrices InOut: Scope Name Type Comment Inout mDst Mat The result Inout Const mLhs Mat The left hand side mRhs Mat The right hand side Return Mat_Add BOOL
GenericQueue.CopyRange (METH) ¶ METHOD FINAL CopyRange : BOOL Copies nElems elements from queue q to this queue. Assumes that both queues contain elements of the same size. Fails if there is not enough space left. task-safety: Call from the producer task of this queue only. The producer task of this queue has to be the consumer task with regard to the input queue q . InOut: Scope Name Type Inout Const q GenericQueue Input iFirst UDINT nElems UDINT Return CopyRange BOOL
GenericQueue.EndOfData (METH) ¶ METHOD FINAL EndOfData : BOOL Returns whether end of data has been reached for the queue. task-safety: may be called from both tasks InOut: Scope Name Type Return EndOfData BOOL
Poly_EvalDerivs (FUN) ¶ FUNCTION Poly_EvalDerivs : BOOL Evaluates a polynomial a[0] + … + a[iN]*x^iN and its three derivatives InOut: Scope Name Type Comment Input pa POINTER TO SM3M.SMC_Vec The coefficient vector, containing iN+1 coefficients iN DINT The degree of the polynomial, must be non-negative dx LREAL The place of evaluation Inout v DynVState Return Poly_EvalDerivs BOOL
VPoly (STRUCT) ¶ TYPE VPoly : STRUCT Polynomial with vector-valued coefficients InOut: Name Type Comment ad ARRAY [0..MAX_VPOLY_DEG] OF SM3M.SMC_Vec The coefficients: ad[0] is the constant term, ad[deg] is the factor of x^deg. Note: ad[deg] <> 0 must hold if deg > 0. deg UDINT 0 <= deg <= MAX_VPOLY_DEG must hold