Debug ¶ Dbg_Fun_ComputeRoot_tau1 (FunctionBlock) Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property) Dbg_Fun_ParamTransform (FunctionBlock) Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property) Dbg_Fun_SolveIVP_tau2 (FunctionBlock) Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property) Dbg_MVCFunIter (FunctionBlock) Advance (Method) Get (Method) GetVarName (Method) Initialize (Method) IsValid (Method) NumVars (Property) Dbg_PathElemEvalIter (FunctionBlock) Advance (Method) Get (Method) GetVarName (Method) Initialize (Method) IsValid (Method) NumVars (Property) Dbg_PlannerState (Struct) Dbg_PlannerState_Serialize (Function) Dbg_TrjCacheIter (FunctionBlock) Advance (Method) Get (Method) GetVarName (Method) Initialize (Method) IsValid (Method) NumVars (Property) Dbg_TrjFunIter (FunctionBlock) Advance (Method) Get (Method) GetVarName (Method) Initialize (Method) IsValid (Method) NumVars (Property) Dbg_WritePlannerState (Function) Dbg_Write_Cache (Function) Dbg_Write_ComputeRoot_tau1 (Function) Dbg_Write_MVC (Function) Dbg_Write_ParamTransforms (Function) Dbg_Write_PathBuf (Function) Dbg_Write_PathElemEval (Function) Dbg_Write_SampleBuffer (Function) Dbg_Write_SolveIVP_tau2 (Function) Dbg_Write_SolveIVP_tau2_I (Function) Dbg_Write_Trajectory (Function) Dbg_Write_Trajectory_I (Function) MVC Constraint_CreateGCoeffs_MVC (Function) Constraint_CreateHCoeffs_MVC (Function) Constraint_GHToAB (Function) Constraint_G_Entry (Struct) Constraint_H_Entry (Struct) Constraint_SetGV_Pair (Function) Constraint_SetG_Pair (Function) Constraint_SetHV_Pair (Function) Constraint_SetHV_Torque_Pair (Function) Constraint_SetH_Pair (Function) Dbg_EvalMVC (Function) Dbg_EvalMVC_I (Function)

Dbg_Fun_ComputeRoot_tau1 (FB) ¶ FUNCTION_BLOCK Dbg_Fun_ComputeRoot_tau1 IMPLEMENTS SM0.Dbg_IFun InOut: Scope Name Type Input pjerkBounds POINTER TO Trj_JerkBounds wI DynState dTs LREAL dS LREAL dTau1_low LREAL dTau1_hgh LREAL dTau2_low LREAL dTau2_hgh LREAL eps Trj_Epsilons Properties: NumVars Methods: Eval GetName GetVarName Structure: Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property)

Dbg_Fun_ParamTransform.GetVarName (METH) ¶ METHOD GetVarName : STRING(15) InOut: Scope Name Type Return GetVarName STRING(15) Input idxVar UDINT

Dbg_Fun_ParamTransform.NumVars (PROP) ¶ PROPERTY NumVars : UDINT

Dbg_Fun_SolveIVP_tau2 (FB) ¶ FUNCTION_BLOCK Dbg_Fun_SolveIVP_tau2 IMPLEMENTS SM0.Dbg_IFun InOut: Scope Name Type Input pjerkBounds POINTER TO Trj_JerkBounds iv Trj_Interval dTs LREAL Properties: NumVars Methods: Eval GetName GetVarName Structure: Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property)

Constraint_Type (ENUM) ¶ TYPE Constraint_Type : Attributes: qualified_only InOut: Name NONE PATH_VEL PATH_ACC PATH_JERK PATH_END_OF_SEG AXIS_VEL AXIS_ACC AXIS_JERK_0 AXIS_JERK_1 PATH_MAX_VEL AXIS_MAX_VEL AXIS_TORQUE

DynFactorsA (STRUCT) ¶ TYPE DynFactorsA : STRUCT InOut: Name Type a ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF SMRB.DynFactors

DynFactorsA_Positive (FUN) ¶ FUNCTION DynFactorsA_Positive : BOOL InOut: Scope Name Type Return DynFactorsA_Positive BOOL Inout Const f DynFactorsA Input nNumAxes UDINT

Dbg_Fun_ParamTransform (FB) ¶ FUNCTION_BLOCK Dbg_Fun_ParamTransform IMPLEMENTS SM0.Dbg_IFun InOut: Scope Name Type Input ppt POINTER TO ParamTransform name STRING(10) Properties: NumVars Methods: Eval GetName GetVarName Structure: Eval (Method) GetName (Method) GetVarName (Method) NumVars (Property)

Dbg_Fun_ParamTransform.Eval (METH) ¶ METHOD Eval InOut: Scope Name Type Inout vars SM0.Dbg_Vars