FUNCTION cross : ARRAY [0..2] OF LREAL
VAR_INPUT
v1 : ARRAY [0..2] OF LREAL;
v2 : ARRAY [0..2] OF LREAL;
END_VAR
VAR
a1 : LREAL := v1[0];
a2 : LREAL := v1[1];
a3 : LREAL := v1[2];
b1 : LREAL := v2[0];
b2 : LREAL := v2[1];
b3 : LREAL := v2[2];
tempVec : ARRAY [0..2] OF LREAL;
END_VAR
tempVec[0] := (a2*b3-a3*b2);
tempVec[1] := (a3*b1-a1*b3);
tempVec[2] := (a1*b2-a2*b1);
cross := tempVec;
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