_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

Const v0 SMC_Vector3D v1 SMC_Vector3D

PeEnd POINTER TO PathElem dSEnd LREAL dTs LREAL

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

.IS_SPHERE_MAX_ROOTS-1)/2. dX0 LREAL [...] [dX0 .. dX1]. d [...] interval [dX0 .. dX1].

_Matrix3 vU SMC_Vector3D vRot SMC_Vector3D

interpolator v SMC_VECTOR3D [...] interpolator dOffsetX LREAL [...] -axis dOffsetY LREAL