PathElem_IsOriPrimType (FUN) ¶ FUNCTION PathElem_IsOriPrimType : BOOL InOut: Scope Name Type Inout Const pe PathElem Input tOr OriPrimType Return PathElem_IsOriPrimType BOOL
PathElem_Len (FUN) ¶ FUNCTION PathElem_Len : LREAL InOut: Scope Name Type Inout Const pe PathElem Return PathElem_Len LREAL
PathElem_IsConstant (FUN) ¶ FUNCTION PathElem_IsConstant : BOOL InOut: Scope Name Type Inout Const pe PathElem Return PathElem_IsConstant BOOL
PathElem_IsEndOfPath (FUN) ¶ FUNCTION PathElem_IsEndOfPath : BOOL InOut: Scope Name Type Inout Const pe PathElem Return PathElem_IsEndOfPath BOOL
PathElem_SetId (FUN) ¶ FUNCTION PathElem_SetId : BOOL InOut: Scope Name Type Return PathElem_SetId BOOL Inout pe PathElem Input id PathElem_Id
PathElem_SetLen (FUN) ¶ FUNCTION PathElem_SetLen : BOOL InOut: Scope Name Type Return PathElem_SetLen BOOL Inout pe PathElem Input len LREAL
Path_DynLimitsAsym_AccLimitsFromTorque (FUN) ¶ FUNCTION Path_DynLimitsAsym_AccLimitsFromTorque Given limits and a second order differential equation T = T_xx*f_xx + T_x2*f_x^2 + T_off for the torque, calculates equivalent limits for the acceleration f_xx. Sets all other limits to +/- infinity. InOut: Scope Name Type Inout fLimits Path_DynLimitsAsym Input fTorqueMin LREAL fTorqueMax LREAL T_xx LREAL T_x2 LREAL T_off LREAL Inout Const f ParamState
Path_DynLimitsAsym_FromDynLimits (FUN) ¶ FUNCTION Path_DynLimitsAsym_FromDynLimits InOut: Scope Name Type Inout lAsym Path_DynLimitsAsym Inout Const l SMRB.DynLimits
PathQueue.SetPointer (METH) ¶ METHOD FINAL SetPointer : BOOL Method to cyclically set the pointer for the queue-storage. The pointer needs to be udpated every cycle because it could change due to an online-change. InOut: Scope Name Type Input pD POINTER TO ARRAY [0..0] OF PathElem pDElemFuns POINTER TO ARRAY [0..0] OF ElemFun pDTraces POINTER TO ARRAY [0..0] OF ElemFunTrace Return SetPointer BOOL
PathQueue.SpaceElemFunsLeft (METH) ¶ METHOD FINAL SpaceElemFunsLeft : UDINT Returns how many element functions may be appended to the queue. InOut: Scope Name Type Return SpaceElemFunsLeft UDINT
