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Input
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pi
|
SMC_PosInfo
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|
Target position vector (x,y), ouput of interpolator
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|
v
|
SMC_VECTOR3D
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|
Vector of current path tangent, output of interpolator
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|
dOffsetX
|
LREAL
|
|
Additional offset for x-axis
|
|
dOffsetY
|
LREAL
|
|
Additional offset for y-axis
|
|
dOffsetZ
|
LREAL
|
|
Additional offset for z-axis
|
|
dOffsetR
|
LREAL
|
|
Additional offset for rotational axis
|
|
iDirectionR
|
INT
|
1
|
Direction of rotation
|
|
Output
|
dx
|
LREAL
|
0
|
Resulting target position for x-axis
|
|
dy
|
LREAL
|
0
|
Resulting target position for y-axis
|
|
dz
|
LREAL
|
0
|
Resulting target position for z-axis
|
|
dr
|
LREAL
|
0
|
Rotation of resulting position in degrees
|