Trj_BustaskCycle_Diff (FUN) ¶ FUNCTION Trj_BustaskCycle_Diff : LINT InOut: Scope Name Type Input btc0 ULINT btc1 ULINT Return Trj_BustaskCycle_Diff LINT

Trj_DebugData (STRUCT) ¶ TYPE Trj_DebugData : STRUCT InOut: Name Type Comment la LREAL The lookahead when this sample was planned. j_avg LREAL The average jerk during an ipo cycle. j_low LREAL The lower jerk limit for this sample. j_hgh LREAL The upper jerk limit for this sample. planningResult Trj_PlanningResultTag The planning result. activeConstraint Constraint_Info The constraint that determined the jerk for this sample. limitingConstraint_low Constraint_Info The lower constraint. limitingConstraint_hgh Constraint_Info The upper constraint. impedingConstraint Constraint_Info The constraint that caused the planner to fail. cs_Start SM3M.SMC_Frame The start coordinate system of the current path element at planning time. cs_Dest SM3M.SMC_Frame The dest coordinate system of the current path element at planning time.

Trj_PlanningSampleQueue (FB) ¶ FUNCTION_BLOCK FINAL Trj_PlanningSampleQueue Methods: AddSampleToBuffer CommitBufferedSamples GetBufferDuration GetEndState GetQueueDuration GetTotalDuration Init Reinit Reset Structure: AddSampleToBuffer (Method) CommitBufferedSamples (Method) GetBufferDuration (Method) GetEndState (Method) GetQueueDuration (Method) GetTotalDuration (Method) Init (Method) Reinit (Method) Reset (Method)

Trj_PlanningSampleQueue.AddSampleToBuffer (METH) ¶ METHOD FINAL AddSampleToBuffer : BOOL InOut: Scope Name Type Inout Const sample Trj_Sample Input nSegment SegmentId nTrajectory TrajectoryId Return AddSampleToBuffer BOOL

Trj_PlanningSampleQueue.GetEndState (METH) ¶ METHOD GetEndState : BOOL InOut: Scope Name Type Inout w DynState Return GetEndState BOOL Output nSegment SegmentId

Trj_PlanningSampleQueue.GetQueueDuration (METH) ¶ METHOD FINAL GetQueueDuration : LREAL Returns the duration of the committed samples in seconds. InOut: Scope Name Type Return GetQueueDuration LREAL Output durationUntilFinalTau3Phase LREAL

Trj_PlanningSampleQueue.GetTotalDuration (METH) ¶ METHOD FINAL GetTotalDuration : LREAL Returns the total duration of committed and planned samples. The duration is returned in seconds. InOut: Scope Name Type Return GetTotalDuration LREAL

Trj_PlanningSampleQueue.Init (METH) ¶ METHOD FINAL Init : BOOL InOut: Scope Name Type Inout qSamples Trj_SampleQueue Input taskCycleTime LREAL Return Init BOOL

Trj_BusTaskCycleInfo (STRUCT) ¶ TYPE Trj_BusTaskCycleInfo : STRUCT InOut: Name Type Comment busTaskCycle ULINT The bus task cycle in which the planner assumed the sample would be interpolated. tRest LREAL The fractional part of the bus task cycle, see busTaskCycle (0 <= tRest < busTaskInterval) busTaskInterval LREAL The bus task interval.

Trj_BusTaskCycleInfo_AddTimeOffset (FUN) ¶ FUNCTION Trj_BusTaskCycleInfo_AddTimeOffset InOut: Scope Name Type Inout btc Trj_BusTaskCycleInfo Input t LREAL