Input: 
v : ARRAY [0..2] OF LREAL;

Output:

norm : LREAL;

Type: Function

Responsible: Magnus


Simple helper function for 24_7 Forward Kinematics. Concept taken from wikipedia. This function is the same as our inverse kinematic function.


Code Overview
FUNCTION norm : LREAL
VAR_INPUT
	deltas : ARRAY [0..2] OF LREAL;
END_VAR
VAR
	i : INT;
	xD : LREAL := deltas[0];
	yD : LREAL := deltas[1];
	zD : LREAL := deltas[2];
END_VAR

norm := SQRT((xD*xD)+(yD+yD)+(zD+zD));


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