PathElem_EstimateStepSize (FUN) ¶ FUNCTION PathElem_EstimateStepSize : BOOL Estimates a good value for the step size for numerical differentiation. The step size is used by |EvalAxisDerivs| . We start with a large step size and reduce it until the difference between the numerical derivatives increases. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Return PathElem_EstimateStepSize BOOL Output h LREAL

PathElem_EvalManipulatorDynStateT (FUN) ¶ FUNCTION PathElem_EvalManipulatorDynStateT : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext md SMDYN.ManipulatorDynStateT Inout Const pe PathElem uq SMRB.DynV2State Return PathElem_EvalManipulatorDynStateT BOOL

ProjectAxisLimitsToPath (FUN) ¶ FUNCTION ProjectAxisLimitsToPath InOut: Scope Name Type Inout dynLimitsIpoParam Path_DynLimits Inout Const dynLimitsAxes DynLimitsA uqs SMRB.DynV2State Input n DINT

RotaryAxesDifferentPeriod (FUN) ¶ FUNCTION RotaryAxesDifferentPeriod InOut: Scope Name Type Comment Inout Const ef ElemFun v0 SM3M.SMC_Vec v1 SM3M.SMC_Vec Input bCheckPosKinAxesOnly BOOL Output CheckRotaryAxesSamePeriod BOOL idxAxis UDINT The index of the violating axis (only if return value is true)

Trj_ContainsReversal (FUN) ¶ FUNCTION Trj_ContainsReversal : BOOL Returns whether the trajectory contains a reversal. Note: only trajectories with an end-velocity >= -eps.dEps_v are checked, for trajectories with negative end-velocity this function returns FALSE. InOut: Scope Name Type Inout Const w0 DynState tr Trajectory Input dEps_v LREAL Return Trj_ContainsReversal BOOL

Trj_DynStateNext (FUN) ¶ FUNCTION Trj_DynStateNext : DynState InOut: Scope Name Type Inout Const wCur DynState Input dj LREAL dTs LREAL Return Trj_DynStateNext DynState

ManipulatorDynStateT_Lint (FUN) ¶ FUNCTION ManipulatorDynStateT_Lint InOut: Scope Name Type Inout mdDst SMDYN.ManipulatorDynStateT Inout Const mdLhs SMDYN.ManipulatorDynStateT mdRhs SMDYN.ManipulatorDynStateT Input lambda LREAL

ManipulatorDynState_ApplyDynState (FUN) ¶ FUNCTION ManipulatorDynState_ApplyDynState InOut: Scope Name Type Inout torque ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF LREAL Inout Const md SMDYN.ManipulatorDynState w DynState

PathRefLen (FUN) ¶ FUNCTION PathRefLen : LREAL Returns the reference length of the path element with the given cycle interval. This is an upper bound on the interpolation parameter distance that can be travelled during the cycle interval. Return value is in (-Infinity, Infinity]. InOut: Scope Name Type Inout Const ad PathElem_AddData Input dTs LREAL Return PathRefLen LREAL

PathRefLenI (FUN) ¶ FUNCTION PathRefLenI : LREAL Returns the reference length of the path element with the given cycle interval. This is an upper bound on the interpolation parameter distance that can be travelled during the cycle interval. InOut: Scope Name Type Inout Const limits Path_DynLimits Input dTs LREAL Return PathRefLenI LREAL