ElemFunQueue.AddChecksum (METH) ¶ METHOD FINAL AddChecksum InOut: Scope Name Type Inout crc32 SMRB.SMC_FB_CRC32

ElemFunPose_SwitchECSToPlanningTrans (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToPlanningTrans : BOOL Switches the coordinate system of the pose and all referenced ElemFuns to the planner task. InOut: Scope Name Type Inout pose ElemFunPose Return ElemFunPose_SwitchECSToPlanningTrans BOOL

ElemFunPose_ToStatic (FUN) ¶ FUNCTION ElemFunPose_ToStatic : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext poseStatic ElemFunPose Inout Const pose ElemFunPose aRef TRAFO.AXISPOS_REF cd TRAFO.CONFIGDATA aPeriods AxisPeriods Input kin TRAFO.MC_KIN_REF_SM3 Return ElemFunPose_ToStatic BOOL

ElemFunQueue.Append (METH) ¶ METHOD FINAL Append : BOOL Appends an element function to a queue of element functions. Composite elements are copied transitively, and the internal pointers are updated to the copies in the queue. The queue must have enough room for ElemFun_NumElems(pElemFun^) elements. InOut: Scope Name Type Inout Const ef ElemFun Input switchCSToBusTask BOOL Return Append BOOL

ElemFunQueue.Capacity (METH) ¶ METHOD FINAL Capacity : UDINT The maximum number of elements that can be stored in the queue InOut: Scope Name Type Return Capacity UDINT

ElemFunQueue.Full (METH) ¶ METHOD FINAL Full : BOOL Returns whether the queue is full. InOut: Scope Name Type Return Full BOOL

ElemFunQueue.GetFromEnd (METH) ¶ METHOD FINAL GetFromEnd : POINTER TO ElemFun Returns a pointer to the n-last element if the queue is at least n elements, otherwise 0. The pointer is valid until the next call to RemoveFirst. Only to be called safely from the writing task, or when it is made sure that no elements are removed concurrently. InOut: Scope Name Type Input n UDINT Return GetFromEnd POINTER TO ElemFun

ElemFunPose_SwitchECSToBusTaskTrans (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToBusTaskTrans : BOOL Switches the coordinate system of the pose and all referenced ElemFuns to the bustask. InOut: Scope Name Type Inout pose ElemFunPose Return ElemFunPose_SwitchECSToBusTaskTrans BOOL

ElemFunPose_SwitchECSToPlanning (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToPlanning Switches the coordinate system of the pose to the planner task. Any ElemFun the pose references is not affected. InOut: Scope Name Type Inout pose ElemFunPose

ElemFunPose_VariableToConstant (FUN) ¶ FUNCTION ElemFunPose_VariableToConstant : BOOL Converts a variable pose to a constant pose one by evaluating at the current time. InOut: Scope Name Type Inout poseConst ElemFunPose Inout Const poseVariable ElemFunPose Return ElemFunPose_VariableToConstant BOOL