Format

Description

The Forcos function evaluates a Fourier Cosine series at a specific value .

Example

<Motion_Joint

    id                  = "301001"

    label               = “Motion_Joint name”

    type                = "EXPRESSION"

    val_type            = "D"

    expr                = "FORCOS(TIME,0.1,6.28,0.1,0.2)"

    joint_id            = "10003"

    joint_type          = "R"

/>

Arguments

The independent variable.  For example, to specify time as the independent variable, specify as TIME.

The shift in the Fourier Cosine series.

The fundamental frequency of the Fouries series.  It is assumed to be specified in radians per unit of unless a D is used after the value.

The constant bias term.

The coefficients for the Fourier Cosine series.

Definition