FORCOS

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

Format

Forcos ( x , x 0 , ω , c 0 , c 1 , , 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.
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.
c 0
The constant bias term.
c 1 , c 2 , , c 30
The coefficients for the Fourier Cosine series.

Definition

(1)
Forcos  = c 0 + i = 1 N c i C i ( x x 0 )    where,   C i ( x x 0 ) = cos ( i ω   ( x x 0 ) )  and N    =   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"
/>