_TRAFO_SCARA2 ) dArmLength1 LREAL [...] arm in t.u. d [...] purpose) dR1 LREAL

a phase dTau1 of [...] by / j_hgh if dT < dTau1 j_k = | j

part between d..1 (T [...] SMC_GEOINFO d LREAL

point at t [0, 1] on [...] SMC_VECTOR3D pg [...] _GEOINFO t LREAL

_Matrix3_Identity, vT := gc_Vector3D [...] Constant gc_Vector3D_Zero SMC_Vector3D STRUCT

_Matrix3_Identity, vT := gc_Vector3D [...] Constant gc_Vector3D_Zero SMC_Vector3D STRUCT

by / j_low if dT [...] : dT > dTau and a [...] interval of dTs seconds

0 = f(x-h/2), f1 = f(x+h/2) as v = (f1.vT - f0.vT) / h q

tangential vector at t [0, 1] on pg in pv In [...] POINTER TO SMC_VECTOR3D

tangential vector at t [0, 1] on pg in pv In [...] POINTER TO SMC_VECTOR3D