|
Input
|
pi
|
SMC_PosInfo
|
Target position vector (x,y), output of interpolator.
|
|
dVel
|
LREAL
|
Velocity
|
|
v
|
SMC_VECTOR3D
|
Vector of the current tangent, output of interpolator
|
|
dOffsetX
|
LREAL
|
Additional offset for the x-axis
|
|
dOffsetY
|
LREAL
|
Additional offset for the y-axis
|
|
dOffsetZ
|
LREAL
|
Additional offset for the z-axis
|
|
Output
|
dx
|
LREAL
|
Resulting target position for the x-axis
|
|
dvx
|
LREAL
|
Resulting target velocity for the x-axis
|
|
dy
|
LREAL
|
Resulting target position for the y-axis
|
|
dvy
|
LREAL
|
Resulting target velocity for the y-axis
|
|
dz
|
LREAL
|
Resulting target position for the z-axis
|
|
dvz
|
LREAL
|
Resulting target velocity for the z-axis.
|