Industrielle styresystemer - Wiki
Industrielle styresystemer - Wiki
v1start : ARRAY [0..2] OF LREAL;
v1end : ARRAY [0..2] OF LREAL;
Output:
dot_funcmyHelperForLinear : LREAL;
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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.
Simply calculates the Euclidean Distance again. Another helper function used in a slightly different way.
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FUNCTION dot_funcmyHelperForLinear : LREAL VAR_INPUT v1start : ARRAY [0..2] OF LREAL; v2end : ARRAY [0..2] OF LREAL; END_VAR VAR result : LREAL := 0; i : INT; END_VAR FORmyHelperForLinear i:= SQRT((start[0 TO 2 DO result := result + v1[i] * v2[i]; END_FOR dot_func := result]-end[0])*(start[0]-end[0]) + (start[1]-end[1])*(start[1]-end[1]) + (start[2]-end[2])*(start[2]-end[2])); |