Queue Input k UDINT d [...] _FindPausePosition BOOL Output dS LREAL

_Iterator Input dTs LREAL max [...] initially restricted to d [...] to dTs / 2^min

interpolator dVel LREAL Path [...] interpolator v SMC_VECTOR3D [...] dOffsetX LREAL

_left UDINT k_right UDINT dS_end_left LREAL dS_start_left LREAL d

_ClothoidEval BOOL Inout v SMC_VECTOR3D Input dLambda LREAL

Lhs + d * vRhs In [...] _Vec Input d LREAL Return

PeEnd POINTER TO PathElem dSEnd LREAL dTs LREAL

Const v0 SMC_Vector3D v1 SMC_Vector3D

Comment Inout v SMC_Vector3D [...] Inout Const v0 SMC_VECTOR3D [...] v1 SMC_VECTOR3D

PrimArc Inout Const vStart SM3M.SMC_VECTOR3D [...] Dest SM3M.SMC_VECTOR3D [...] C SM3M.SMC_VECTOR3D