# FORCOS

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

## Format

$\text{Forcos}\left(x,{x}_{0},\omega ,{c}_{0},{c}_{1},\cdots ,{c}_{30}\right)$

## 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.

(1)

## 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"
/>