vOut SM3M.SMC_VECTOR3D Inout Const vIn SM3M.SMC_VECTOR3D [...] ProjectPosition In

_VectorMult : BOOL InOut: Scope [...] POINTER TO SMC_Vector3D d LREAL

TrajectoryLimits InOut: Scope Name [...] dS0 LREAL d

JointPositions InOut: Scope Name [...] RailJoints ARRAY [0..2] OF SMC_VECTOR3D [...] PlateJoints ARRAY [0..2] OF SMC_VECTOR3D

. InOut: Scope Name [...] _Matrix3 Input iRow DINT d0 LREAL d1 LREAL d

-dimensional vector (d0) In [...] v SMC_Vec Input d

_only InOut: Name [...] x8FFF used as “Pull [...] number 0 used as “Pull

_only InOut: Name [...] and stays in IDLE [...] executed as long as the

_SafeData : STRUCT InOut: Name [...] segment SegmentId dS0 LREAL dS1 LREAL elem

_PlannerState : STRUCT InOut: Name [...] planner position d [...] path element d