Trj_Assign (FUN) ¶ FUNCTION Trj_Assign InOut: Scope Name Type Inout trDst Trajectory Inout Const trSrc Trajectory

Trj_AssignOffT (FUN) ¶ FUNCTION Trj_AssignOffT : BOOL Assigns a trajectory while omitting a prefix of the positive duration tOff . InOut: Scope Name Type Inout errCtx SMRE.ErrorContext trDst Trajectory Inout Const trSrc Trajectory wSrc0 DynState Input tOff LREAL dTs LREAL Return Trj_AssignOffT BOOL

Trj_EvalCacheIter.IsValid (METH) ¶ METHOD FINAL IsValid : BOOL InOut: Scope Name Type Return IsValid BOOL

Trj_EvalCacheIter.Setup (METH) ¶ METHOD FINAL Setup InOut: Scope Name Type Inout path PathQueue cache Trj_EvalCache

Trj_CanJoinTrajectories (FUN) ¶ FUNCTION Trj_CanJoinTrajectories : BOOL InOut: Scope Name Type Inout Const tr1 Trajectory tr2 Trajectory Return Trj_CanJoinTrajectories BOOL

Trj_Duration (FUN) ¶ FUNCTION Trj_Duration : LREAL InOut: Scope Name Type Return Trj_Duration LREAL Inout Const tr Trajectory

PathElem_LimitEst_ComputeLocs (FUN) ¶ FUNCTION PathElem_LimitEst_ComputeLocs : SMC_ERROR Computes the locations used by PathElem_EstimatePathLimits Currently, fix locations are chosen. InOut: Scope Name Type Return PathElem_LimitEst_ComputeLocs SMC_ERROR Inout Const pe PathElem Inout aLocs ARRAY [0..2] OF LREAL Output nLocs UDINT

PathElem_ProjectCommandedAxisLimitsToPath (FUN) ¶ FUNCTION PathElem_ProjectCommandedAxisLimitsToPath : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext dynLimitsIpoParam Path_DynLimits Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Input x LREAL Return PathElem_ProjectCommandedAxisLimitsToPath BOOL Output s_x LREAL The derivative of the arc-length reparametrization at x.

MinLen (FUN) ¶ FUNCTION MinLen : LREAL Returns the minimum length of a path element with the given cycle interval. InOut: Scope Name Type Inout Const pe PathElem Input dTs LREAL Return MinLen LREAL

PathElem_EstimatePathLimits (FUN) ¶ FUNCTION PathElem_EstimatePathLimits : BOOL Estimates the path limits, considering both the given cartesian limits (addData.dynLimitsPathCommanded) and the axis limits (addData.dynLimitsAxesCommanded). Note: requires that addData.derivStepSize has already been computed. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext dynLimitsPath_est Path_DynLimits The estimated cartesian path limits. dynLimitsIpoParam_est Path_DynLimits The estimated limits of the interpolation parameter. Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Return PathElem_EstimatePathLimits BOOL