VStateRangeMode (ENUM) ¶ TYPE VStateRangeMode : The possible modes for ComputeVStateRange. Attributes: qualified_only InOut: Name Initial Comment FixedEpsilon 0 The default mode up to 4.6.1.0: use a fixed epsilon to turn off averaged values. ContEpsilon 1 Use an epsilon based on derivStepSize and “ramp in” use of averaged values for small values of dDeltaS. Off 2 New default for versions > 4.6.1.0: don’t use averaged values.

Trj_DynStateNext_CheckVelocity (FUN) ¶ FUNCTION Trj_DynStateNext_CheckVelocity : BOOL Returns FALSE if the velocity is becoming negative when applying dj for time dTs to wCur . InOut: Scope Name Type Inout Const wCur DynState Input dj LREAL dTs LREAL dEps_v LREAL Return Trj_DynStateNext_CheckVelocity BOOL

Trj_FindIntermediateTime (FUN) ¶ FUNCTION Trj_FindIntermediateTime : BOOL Calculates the time t when position ds is reached given an initial state w0 at time t = 0 with w0.ds <= ds, a constant jerk dj, an upper bound tUp > 0 for t such that ds <= w1.ds for w1 = Trj_DynStateNext(w0, dj, tUp) InOut: Scope Name Type Inout w0 DynState Input dj LREAL tUp LREAL ds LREAL Return Trj_FindIntermediateTime BOOL Output t LREAL

Trj_TrajectoryPair_GetEndDynState (FUN) ¶ FUNCTION Trj_TrajectoryPair_GetEndDynState : BOOL Returns the dynamic state at the end of the two trajectories. Please note: The trajectories must have at least one phase in total. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const trPrefix Trajectory trSuffix Trajectory Inout wEnd DynState Return Trj_TrajectoryPair_GetEndDynState BOOL

Trj_TrajectoryPair_IsRoot (FUN) ¶ FUNCTION Trj_TrajectoryPair_IsRoot : BOOL Returns whether the dynamic end state is a root. InOut: Scope Name Type Inout Const trPrefix Trajectory trSuffix Trajectory eps Trj_Epsilons Return Trj_TrajectoryPair_IsRoot BOOL

Trj_CP_Sampler (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Sampler Methods: CreateSamples Structure: CreateSamples (Method)

Trj_CP_Sampler.CreateSamples (METH) ¶ METHOD FINAL CreateSamples : SMC_ERROR InOut: Scope Name Type Inout sampleQueue Trj_PlanningSampleQueue trs Trj_State bFirstSample BOOL stats Trj_Statistics Inout Const result Trj_PlanningResult cfg Trj_PlanningConfig Input dMinTime LREAL nTrajectory TrajectoryId Return CreateSamples SMC_ERROR Output bTrajectoryDone BOOL dTSamplesProduced LREAL

Trj_Interval_SetRoot (FUN) ¶ FUNCTION Trj_Interval_SetRoot : BOOL Returns whether the root |Trj_Interval.bRootFound| has been successfully set to TRUE. If the check of the root is not successful, then |Trj_Interval.bRootFound| is set to FALSE. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval Return Trj_Interval_SetRoot BOOL

Trj_Interval_Update_Off (FUN) ¶ FUNCTION Trj_Interval_Update_Off : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval tr_rst Trajectory Return Trj_Interval_Update_Off BOOL

Trj_GetEndDynState (FUN) ¶ FUNCTION Trj_GetEndDynState : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const tr Trajectory Inout wEnd DynState Return Trj_GetEndDynState BOOL