FeatureMap UDINT FeatureMap mulUnitCounter UDINT Unit counter

in the repsective axis’ unit.

CHCProtocolDataUnit target

ProtocolDataUnit target

CHCProtocolDataUnit p

EngineeringUnits Opc

VariableReference ControlledVariableUnits [...] Constant DerivativeConstantUnits [...] Constant IntegralConstantUnits

v0 and a (unit [...] of the line. Must be a unit

Used for unit test only

unit quaternions