FORCOS

Format

$\text{Forcos}(x,x_0,\omega ,c_0,c_1,\cdots ,c_{30})$

Arguments

$x$

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

$x_0$

The shift in the Fourier Cosine series.

$\omega$

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.

$c_0$

The constant bias term.

$c_1,c_2,\cdots ,c_{30}$

The coefficients for the Fourier Cosine series.

Definition

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"
/>