v1 : ARRAY [0..2] OF LREAL; v1 : ARRAY [0..2] OF LREAL;
Output:
dot_func : LREAL;
Type: Function
Responsible: Magnus
Simple helper function for 24_7 Forward Kinematics. Concept taken from wikipedia. Simply multiplies x1 * x2 + y1 * y2 + z1 * z2 = dot product.
Code Overview
FUNCTION dot_func : LREAL
VAR_INPUT
v1 : ARRAY [0..2] OF LREAL;
v2 : ARRAY [0..2] OF LREAL;
END_VAR
VAR
result : LREAL := 0;
i : INT;
END_VAR
FOR i:=0 TO 2 DO
result := result + v1[i] * v2[i];
END_FOR
dot_func := result;
