maschine dPos ARRAY [0..2] OF LREAL d [...] Positions ARRAY [0..5] OF SMC_Vector3D

dTs LREAL dTau1 LREAL dTau2_est LREAL

extern30 ¶ SysPortIn30 (Function) SysPortInD [...] PortOut30 (Function) SysPortOutD

Coordinate Transformations ¶ SMC_CoordinateTransformation3D [...] _DetermineCuboidBearing (FunctionBlock) SMC_InvCoordinateTransformation3D

Const v1 SMC_VECTOR3D v2 SMC_VECTOR3D

vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D

Comment Input vX SMC_Vector3d [...] coordinate system) vY SMC_Vector3d [...] coordinate system) vZ SMC_Vector3d

_Epsilons Input dTs LREAL d

radius dR . In [...] _GEOINFO dR LREAL