FORCOS

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

Format

Forcos(x,x0,ω,c0,c1,⋯,c30)

Arguments

x
The independent variable. For example, to specify time as the independent variable, specify x as TIME.
x0
The shift in the Fourier Cosine series.
ω
The fundamental frequency of the Fouries series. It is assumed to be specified in radians per unit of x unless a D is used after the value.
c0
The constant bias term.
c1,c2,⋯,c30
The coefficients for the Fourier Cosine series.

Definition

Forcos =c0+N∑i=1ciCi(x−x0)  where,  Ci(x−x0)=cos(iω (x−x0)) andN  =  Number of terms in the series (N≤30)

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"
/>