atan2 (FUN) ¶ FUNCTION atan2 : LREAL This function will return the angle \(\varphi\) (azimuth) necessary for changing Cartesian to polar coordinates. InOut: Scope Name Type Comment Return atan2 LREAL The angle \(\varphi \in \left(-\pi, \pi \right]\) , whose sine and cosine correspond to the input values. Input lrSinus LREAL Sine of angle \(\varphi\) lrCosinus LREAL Cosine of angle \(\varphi\)

Global Variables ¶ GlobalConstants (GVL)

GlobalConstants (GVL) ¶ InOut: Scope Name Type Initial Comment Constant PI LREAL 3.1415926535897931 The mathematical constant \(\pi\)

Structs ¶ LINE_3D (Struct) PLANE_H (Struct) POINT2_DINT (Struct) POINT2_LREAL (Struct) VECTOR3D (Struct)

LINE_3D (STRUCT) ¶ TYPE LINE_3D : STRUCT This structure defines a straight line in the three dimensional space by specifying two (not identical) points being part of it. InOut: Name Type Comment vP Vector3D First point on straight line vV Vector3D Second point on straight line

PLANE_H (STRUCT) ¶ TYPE PLANE_H : STRUCT This structure defines a plane in the three dimensional space according to the normal form due to Hesse: \(ax + by + cz + d = 0\) , where \(n\) represents the normed normal of the plane. InOut: Name Type Comment lrNx LREAL \(x\) component of a normal vector (corresponds to \(a\) ) lrNy LREAL \(y\) component of a normal vector (corresponds to \(b\) ) lrNz LREAL \(z\) component of a normal vector (corresponds to \(c\) ) lrN LREAL distance to origin in consideration of the orientation of the normal vector (corresponds to \(d\) )

POINT2_DINT (STRUCT) ¶ TYPE POINT2_DINT : STRUCT This structure defines a vector \(\vec{0P} = \vec{P}\) of the two dimensional space by specifying the integral values of the x- and y-component of its target point \(P\) . InOut: Name Type Comment diX DINT x-component of the target point (integer) diY DINT y-component of the target point (integer)

POINT2_LREAL (STRUCT) ¶ TYPE POINT2_LREAL : STRUCT This structure defines a vector \(\vec{0P} = \vec{P}\) of the two dimensional space by specifying the floating-point values of the x- and y-component of its target point \(P\) . InOut: Name Type Comment lrX LREAL x-component of the target point (floating point) lrY LREAL y-component of the target point (floating point)

VECTOR3D (STRUCT) ¶ TYPE VECTOR3D : STRUCT This structure defines a vector \(\vec{0P} = \vec{P}\) of the three dimensional space by specifying the floating-point values of the x-, y- and z-component of its target point \(P\) . InOut: Name Type Initial Comment dX LREAL 0 x-component of target point (floating point, initialized with 0) dY LREAL 0 y-component of target point (floating point, initialized with 0) dZ LREAL 0 z-component of target point (floating point, initialized with 0)

GetSupplierVersion (FUN) ¶ FUNCTION GetSupplierVersion : WORD This is a necessary module for each CAA library. InOut: Scope Name Type Comment Return GetSupplierVersion WORD Indicates the implementation version assigned by the manufacturer. The more significant byte contains the release version, the less significant byte the implementation version. Example: The return 522=16#020A indicates release version 2 and implementation version 10. Input xDummy BOOL For compatibility only