Trj_Phase (STRUCT) ¶ TYPE Trj_Phase : STRUCT InOut: Name Type Comment typ Trj_PhaseType Type of the phase: maximum or minimum jerk dDuration LREAL Duration of the phase in seconds wEnd DynState The state at the end of the phase firstSample DINT nSamples DINT

Trj_RemoveLastSample (FUN) ¶ FUNCTION Trj_RemoveLastSample : BOOL InOut: Scope Name Type Inout tr Trajectory Inout Const wEnd DynState Return Trj_RemoveLastSample BOOL

Trj_RemovePrefix (FUN) ¶ FUNCTION Trj_RemovePrefix : BOOL Removes a given number of phases from the beginning of a trajectory. Pre: nPhases <= tr.nPhases. InOut: Scope Name Type Inout tr Trajectory Input nPhases DINT Return Trj_RemovePrefix BOOL

Trj_PhaseType (ENUM) ¶ TYPE Trj_PhaseType : Attributes: qualified_only InOut: Name TAU_1 TAU_2 TAU_3 WAIT

Trj_PhaseType_MaxJerk (FUN) ¶ FUNCTION Trj_PhaseType_MaxJerk : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_MaxJerk BOOL

Trj_PhaseType_MinJerk (FUN) ¶ FUNCTION Trj_PhaseType_MinJerk : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_MinJerk BOOL

Trj_PhaseType_Wait (FUN) ¶ FUNCTION Trj_PhaseType_Wait : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_Wait BOOL

Trj_CP_Single (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Single Computation of continuous path trajectories. This is the main function block for our CP (continuous path) algorithm. It will compute a trajectory up to a given distance on the path, assuming the path and its first two derivatives w.r.t. the arc length has no discontinuities. The main interface for this FB is Trj_JerkBounds, which is passed as a parameter to the Next method. For each state, consisting of the position on the path, the path velocity and the path acceleration, Trj_JerkBounds computes the maximum and minimum admissible path jerk. The resulting trajectory is stored in a queue of type Trj_SampleQueue. This queue is task-safe: a different task can read and remove values from this queue concurrently. Methods: CommitNewTrajectory NewSafeTrajectory NewTargetTrajectory Structure: CommitNewTrajectory (Method) NewSafeTrajectory (Method) NewTargetTrajectory (Method)

Trj_CP_Single.CommitNewTrajectory (METH) ¶ METHOD FINAL CommitNewTrajectory : BOOL InOut: Scope Name Type Inout trs Trj_State result Trj_PlanningResult errCtx SMRE.ErrorContext Inout Const iv_new Trj_Interval Input dTs LREAL Return CommitNewTrajectory BOOL

Trj_TrajectoryPair_IsValid (FUN) ¶ FUNCTION Trj_TrajectoryPair_IsValid : BOOL Checks whether the two trajectories have at least one phase in total and if they can be joined into one trajectory. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const trPrefix Trajectory trSuffix Trajectory Return Trj_TrajectoryPair_IsValid BOOL