Industrielle styresystemer - Wiki
Industrielle styresystemer - Wiki
v1 : ARRAY [0..2] OF LREAL;
v1 : ARRAY [0..2] OF LREAL;
Output:
dot_func : LREAL;
Info |
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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.
Code Block | ||||||
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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; |