Trj_IsUnrecoverableError (FUN) ¶ FUNCTION Trj_IsUnrecoverableError : BOOL InOut: Scope Name Type Input errorID SMC_ERROR Return Trj_IsUnrecoverableError BOOL
Trj_CP_Single.NewSafeTrajectory (METH) ¶ METHOD FINAL NewSafeTrajectory : BOOL Computes the next sample. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext iv_new Trj_Interval jerkBounds Trj_JerkBounds FB to compute maximum and minimum admissible jerk timer SMRB.TimerHires The time budget for the computation, already enabled result Trj_PlanningResult tiv Trj_TargetInterval plTime PlannerTime Input dTau1_I LREAL Inout Const trsInit Trj_State cfg Trj_PlanningConfig Return NewSafeTrajectory BOOL Output trjEnd LREAL trjDur LREAL
Trj_CP_Single.NewTargetTrajectory (METH) ¶ METHOD FINAL NewTargetTrajectory : BOOL Computes the next sample. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext iv_new Trj_Interval jerkBounds Trj_JerkBounds FB to compute maximum and minimum admissible jerk timer SMRB.TimerHires The time budget for the computation, already enabled result Trj_PlanningResult Inout Const tiv Trj_TargetInterval trsInit Trj_State cfg Trj_PlanningConfig Return NewTargetTrajectory BOOL
Trj_JerkBounds.Eval (METH) ¶ METHOD FINAL Eval : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const w DynState timer SMRB.TimerHires Input t LREAL dTs LREAL phaseType Trj_PhaseType Inout impedingConstraint Constraint_Info dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Return Eval BOOL Output j_low LREAL j_hgh LREAL vel_max LREAL acc_min LREAL acc_max LREAL
Trj_JerkBounds.Eval_Intern (METH) ¶ METHOD FINAL Eval_Intern : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const w DynState timer SMRB.TimerHires Input t LREAL dTs LREAL phaseType Trj_PhaseType dJerkGuess LREAL Inout impedingConstraint Constraint_Info dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Return Eval_Intern BOOL Output j_low LREAL j_hgh LREAL vel_max LREAL acc_min LREAL acc_max LREAL
Trj_Cycler (FB) ¶ FUNCTION_BLOCK FINAL Trj_Cycler InOut: Scope Name Type Comment Inout Const tr Trajectory Input bExecute BOOL bAbort BOOL dTs LREAL wI DynState eps Trj_Epsilons Output wCur DynState The resulting state after applying dJerkCur for time dTsCur to the last state dJerkCur LREAL The jerk applied for the current time interval dTCur LREAL The interval length for which dJerkCur is applied phaseType Trj_PhaseType bPlanningCycleComplete BOOL TRUE iff an entire cycle has passed bDone BOOL bError BOOL ErrorID SM3_Error.SMC_ERROR dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo
Trj_Epsilons (ALIAS) ¶ TYPE Trj_Epsilons : SM3_TrajectoryGeneration.Dyn_Epsilons
Trj_FailureCause (ENUM) ¶ TYPE Trj_FailureCause : Possible failure-causes of the CP-Planner ( Trj_CP_Single ). A failure is a condition that prevents to use the maximum admissible jerk for the next planning cycle. Attributes: qualified_only InOut: Name Comment None No failure occurred TimeBudgetExceeded The time budget given to the scheduler has been exceeded. MaxIterExceeded The maximum number of iterations has been exceeded. LimitViolated A limit of an axis has been violated. Other Some other error has occurred. See the SMC_Error value.
Trj_FailureInfo (STRUCT) ¶ TYPE Trj_FailureInfo : STRUCT Information about failures of the CP-Planner ( Trj_CP_Single ) InOut: Name Type Comment cause Trj_FailureCause The cause of the failure. error SM3_Error.SMC_ERROR The underlying error of the failure.
Trj_JerkBounds (FB) ¶ FUNCTION_BLOCK FINAL Trj_JerkBounds Computes the maximum and minimum admissible path jerk for a given state w. The path is evaluated between dS0 and dSEndOfSegment , inside the segment . Methods: ApplyTrajectoryLimits Eval Eval_Intern Init Reinit Structure: ApplyTrajectoryLimits (Method) Eval (Method) Eval_Intern (Method) Init (Method) Reinit (Method)
