Trj_EvalCacheIter.Get (METH) ¶ METHOD FINAL Get InOut: Scope Name Type Comment Inout uq SMRB.DynV2State md SMDYN.ManipulatorDynStateT pathLimits Path_DynLimits axisLimits DynLimitsA psArc ParamState Out: The value and derivatives of the parameter transformation from the interpolation parameter x to the arc length s. For axis space movements, the members are zero.

Trj_EvalCacheIter.Init (METH) ¶ METHOD FINAL Init : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const timer SMRB.TimerHires tfp GetTimeForPos Converter from position to time. The position is expected relative to the segment start. Input s0 LREAL s1 LREAL segment SegmentId k_min UDINT ds_min LREAL Return Init BOOL

Trj_AppendSample (FUN) ¶ FUNCTION Trj_AppendSample : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext tr Trajectory Inout Const wEnd DynState dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Input dTCur LREAL dJerkCur LREAL Return Trj_AppendSample BOOL

Trj_AppendSuffix (FUN) ¶ FUNCTION Trj_AppendSuffix : BOOL Appends the suffix of trSrc to trDst , starting from tSampleOff in the iSample-th sample of the iPhase-th phase of trSrc . InOut: Scope Name Type Inout errCtx SMRE.ErrorContext trDst Trajectory Inout Const trSrc Trajectory wSampleStart DynState Input iPhase DINT iSample DINT tSampleOff LREAL Return Trj_AppendSuffix BOOL

Trj_EvalCacheIter (FB) ¶ FUNCTION_BLOCK FINAL Trj_EvalCacheIter Allows to iterate all cache slots between to given positions s0 <= s1 on the path. The first return value is the value at s0. Then, all slot values in the interval ]s0, s1[ are returned. Finally, the value at s1 is returned. Note: Currently, Get() must be called before Advance() for correct operation. InOut: Scope Name Type Output dS LREAL Methods: Advance Get Init IsValid Setup Structure: Advance (Method) Get (Method) Init (Method) IsValid (Method) Setup (Method)

Trj_EvalCacheIter.Advance (METH) ¶ METHOD FINAL Advance

Trajectory (STRUCT) ¶ TYPE Trajectory : STRUCT Stores a trajectory, consisting of a number of consecutive phases. InOut: Name Type Comment t0 LREAL The start time of the trajectory nPhases DINT The number of phases aPhases ARRAY [0..(Cnst.MAX_TRAJECTORY_PHASES - 1)] OF Trj_Phase The phases aSamples ARRAY [0..(Cnst.MAX_TRAJECTORY_SAMPLES - 1)] OF Trj_SampleI The samples

Trj_AppendPhase (FUN) ¶ FUNCTION Trj_AppendPhase : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext tr Trajectory Inout Const wEnd DynState Input phaseType Trj_PhaseType Return Trj_AppendPhase BOOL

Trj_EvalCache.SetStartPos (METH) ¶ METHOD PUBLIC FINAL SetStartPos Sets the start position of all axes at the beginning of the cache. Only call if cache is still empty. InOut: Scope Name Type Inout Const axesStart TRAFO.AXISPOS_REF

Trj_EvalCache.SetupCacheIter (METH) ¶ METHOD FINAL SetupCacheIter InOut: Scope Name Type Inout cacheIter Trj_EvalCacheIter