PathElemQueue.RemoveAll (METH) ¶ METHOD FINAL RemoveAll : SMC_ERROR InOut: Scope Name Type Return RemoveAll SMC_ERROR

Trj_SampleQueue_GetDynStateWithTimeOffset (FUN) ¶ FUNCTION Trj_SampleQueue_GetDynStateWithTimeOffset : BOOL InOut: Scope Name Type Comment Inout Const q Trj_SampleQueue currentDynState DynState Input timeOffset LREAL The time offset in seconds on when to evaluate the dynamic state. Must be >= 0. Will return FALSE if no data is available for the given time offset. For time offset 0, the currentDynState will be used if no samples are available. taskCycleTime LREAL The task cycle time in seconds. currentSegment SegmentId The current segment (corresponding to currentDynState) currentJerk LREAL The current jerk (corresponding to currentDynState) Return Trj_SampleQueue_GetDynStateWithTimeOffset BOOL Output dynStateAtTimeOffset DynState jerk LREAL segment SegmentId

Trj_SampleQueue_GetNextStandstill (FUN) ¶ FUNCTION Trj_SampleQueue_GetNextStandstill : BOOL InOut: Scope Name Type Comment Inout q Trj_SampleQueue Input taskCycleTime LREAL The task cycle time in seconds. Return Trj_SampleQueue_GetNextStandstill BOOL Output duration LREAL trjLimit ETrajectoryLimit ds LREAL segment SegmentId

Trj_Samples_CorrectTaskCycleGap (FUN) ¶ FUNCTION Trj_Samples_CorrectTaskCycleGap : LREAL Corrects the sample duration at the end of the sample, if there is a gap between the current and the next sample. Must only be called if Trj_Samples_TaskCycleGapInbetween returned TRUE. InOut: Scope Name Type Comment Input taskCycleTime LREAL sampleDurationAtEnd LREAL The total duration at the end of the current sample. Please note: The start of this duration must be at the start of a cycle. Return Trj_Samples_CorrectTaskCycleGap LREAL

Trj_Samples_TaskCycleGapInbetween (FUN) ¶ FUNCTION Trj_Samples_TaskCycleGapInbetween : BOOL Returns whether there is a task cycle gap between sampleA and sampleB , i.e. whether sampleB should start at the beginning of a task cycle if it follows on sampleA . InOut: Scope Name Type Inout Const sampleA Trj_Sample sampleB Trj_Sample Return Trj_Samples_TaskCycleGapInbetween BOOL

Trj_SampleQueue_InitDynState (FUN) ¶ FUNCTION Trj_SampleQueue_InitDynState InOut: Scope Name Type Inout q Trj_SampleQueue wInit DynState Output jInit LREAL nSegmentInit SegmentId nTrajectoryInit TrajectoryId phaseTypeInit Trj_PhaseType

Trj_SampleQueue_Interpolate (FUN) ¶ FUNCTION Trj_SampleQueue_Interpolate : BOOL InOut: Scope Name Type Inout q Trj_SampleQueue w DynState nSegment SegmentId nTrajectory TrajectoryId dbgData Trj_DebugData Input deltaT LREAL Return Trj_SampleQueue_Interpolate BOOL Output trajectoryLimit ETrajectoryLimit trajectoryState ETrajectoryState dJerkOut LREAL phaseType Trj_PhaseType

Trj_SampleQueue.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 BYTE Return SetPointer BOOL

Trj_SampleQueue.SetReadPos (METH) ¶ METHOD FINAL SetReadPos : BOOL InOut: Scope Name Type Inout Const cursor Trj_SampleQueue_Cursor Return SetReadPos BOOL

Trj_Sample_IsSynchronized (FUN) ¶ FUNCTION Trj_Sample_IsSynchronized : BOOL InOut: Scope Name Type Inout Const sample Trj_Sample Return Trj_Sample_IsSynchronized BOOL