derivatives w.r.t. the arc
state wR and the
Interval w.r.t. the limits
state wR and the [...] _SolveIVP BOOL Output wR Dyn
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_Frame_Identity SMC_Frame STRUCT(mR
TCP - R ABC * V [...] + R ABC * V tool
BufferSize UINT 2000 r
the path ( SMC_orthogonal_r