GeoPrimLinear_GetEndPos (FUN) ¶ FUNCTION GeoPrimLinear_GetEndPos : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout vD SM3M.SMC_Vector3D Input t LREAL Return GeoPrimLinear_GetEndPos BOOL
GeoPrimLinear_Create (FUN) ¶ FUNCTION GeoPrimLinear_Create InOut: Scope Name Type Inout ef ElemFun Inout Const poseStart ElemFunPose poseDest ElemFunPose
GeoPrimLinear_Eval (FUN) ¶ FUNCTION GeoPrimLinear_Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout vr SM3M.SMC_VECTOR3D sx ParamState Input t LREAL bComputePsArc BOOL Return GeoPrimLinear_Eval BOOL
PathElem_IsOriAxisSpaceElem (FUN) ¶ FUNCTION PathElem_IsOriAxisSpaceElem : BOOL InOut: Scope Name Type Inout Const pe PathElem Return PathElem_IsOriAxisSpaceElem BOOL
PathElem_ProjectPos (FUN) ¶ FUNCTION PathElem_ProjectPos : BOOL Projects a position on path element peSrc to the closest position on path element peDst. If there is not a unique geometrically closest position, then the projection is done based on the interpolation parameter. The blending of the interpolation parameter works like this: If a trigger is included in the blending section of peA or peB, it will be projected onto the blending. Triggers at a cut position always belong to the prefix (in accordance to PathElemTrigger_RemovePrefix/Suffix). For peA -> peBld: ]xA, lenA] -> ]0, lenAInBld] For peB -> peBld: [0, xB] -> [lenAInBld, lenBld] InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const peSrc PathElem peDst PathElem Input xSrc LREAL The position on peSrc to be projected xDst0 LREAL The start position in peDst for parameter based blending. xSrc0 LREAL The start position in peSrc for parameter based blending. xScale LREAL The scale applied for parameter based blending Return PathElem_ProjectPos BOOL Output x LREAL
ProjectOnBisector (FUN) ¶ FUNCTION ProjectOnBisector : BOOL InOut: Scope Name Type Inout vDst SM3M.SMC_VECTOR3D Inout Const v SM3M.SMC_VECTOR3D v1 SM3M.SMC_VECTOR3D v2 SM3M.SMC_VECTOR3D Return ProjectOnBisector BOOL Output delta LREAL
RotaryAxesApplyPeriod (FUN) ¶ FUNCTION RotaryAxesApplyPeriod : SM3_Error.SMC_ERROR This functions returns the axis value of the rotary axis for the configured period InOut: Scope Name Type Inout a TRAFO.AXISPOS_REF Inout Const aRef TRAFO.AXISPOS_REF aInfos AxisInfos aPeriods AxisPeriods Input kin TRAFO.MC_KIN_REF_SM3 Return RotaryAxesApplyPeriod SM3_Error.SMC_ERROR
RotaryAxesApplyPeriodV (FUN) ¶ FUNCTION RotaryAxesApplyPeriodV : SM3_Error.SMC_ERROR This functions returns the axis value of the rotary axis for the configured period InOut: Scope Name Type Inout va SM3M.SMC_Vec Inout Const aRef TRAFO.AXISPOS_REF aInfos AxisInfos aPeriods AxisPeriods Return RotaryAxesApplyPeriodV SM3_Error.SMC_ERROR
IsToolCompatibleWithKin (FUN) ¶ FUNCTION IsToolCompatibleWithKin : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates Input kin TRAFO.MC_KIN_REF_SM3 Return IsToolCompatibleWithKin BOOL
IsToolCompatibleWithOriSpace (FUN) ¶ FUNCTION IsToolCompatibleWithOriSpace : BOOL If the orientation image of the kinematics returns dof=zero, then any tool offset is compatible. If it returns dof=one, then only tool position offsets parallel to the unit vector vU corresponding to the axis of rotation vRot are compatible. (This includes zero offsets.) If dof=three, then only position offsets of zero are compatible. InOut: Scope Name Type Comment Inout Const vTool SM3M.SMC_VECTOR3D Tool offset in flange coordinates oriSpace TRAFO.OrientationSpace The orientation space of the kinematics Return IsToolCompatibleWithOriSpace BOOL
