EvalAxisDerivsS (FUN) ¶ FUNCTION EvalAxisDerivsS : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout uq SMRB.DynVState Out: The values and derivatives (wrt. the interpolation parameter x) of all axes. 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 (except for AxisBlending: an estimate of the parameter transformation from x to arc length s is returned) Input x LREAL The interpolation parameter: where to evaluate t LREAL bCheckPosLimits BOOL bApplyARef BOOL Return EvalAxisDerivsS BOOL

EvalAxisDerivsST (FUN) ¶ FUNCTION EvalAxisDerivsST : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout uq SMRB.DynV2State Out: The values and derivatives (wrt. the interpolation parameter x) of all axes. 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 (except for AxisBlending: an estimate of the parameter transformation from x to arc length s is returned) Input x LREAL The interpolation parameter: where to evaluate t LREAL The time parameter (used for tracking) bCheckPosLimits BOOL Return EvalAxisDerivsST BOOL

EvalAxes (FUN) ¶ FUNCTION EvalAxes : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout v SM3M.SMC_Vec 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. Input x LREAL The value of the interpolation parameter t LREAL bCheckPosLimits BOOL bComputePsArc BOOL bApplyARef BOOL Return EvalAxes BOOL

EvalAxes2 (FUN) ¶ FUNCTION EvalAxes2 : BOOL In contrast to EvalAxes the reference axis position does not have to be close to the evaluated position. It can be an axis position anywhere on the path elem. Note: This function may call EvalAxes several times. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef PathElemAxisPos Inout a TRAFO.AXISPOS_REF Input x LREAL The value of the interpolation parameter stepSize LREAL Non-negative evaluation step size Return EvalAxes2 BOOL

EvalAxisDerivs_h_Array (FUN) ¶ FUNCTION EvalAxisDerivs_h_Array : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout auq ARRAY [0..1] OF SMRB.DynVState Input aS ARRAY [0..1] OF LREAL The arc lengths where to evaluate h LREAL The step size for numerical derivation Return EvalAxisDerivs_h_Array BOOL

EvalAxisDerivs_h_Array3 (FUN) ¶ FUNCTION EvalAxisDerivs_h_Array3 : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout auq ARRAY [0..2] OF SMRB.DynVState Input aS ARRAY [0..2] OF LREAL The arc lengths where to evaluate h LREAL The step size for numerical derivation bPosValid BOOL Whether all auq.v have already been computed Return EvalAxisDerivs_h_Array3 BOOL

DynVState_Dist (FUN) ¶ FUNCTION DynVState_Dist : LREAL InOut: Scope Name Type Return DynVState_Dist LREAL Inout Const uq0 SMRB.DynVState uq1 SMRB.DynVState

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

ExtractOriAxesValues (FUN) ¶ FUNCTION ExtractOriAxesValues Extracts the orientation axes values from a given position in axis space. InOut: Scope Name Type Comment Inout Const a TRAFO.AXISPOS_REF Inout vOri SM3M.SMC_Vec The axis values of the orientation axes Input kinCoupled TRAFO.ISMCoupledKinematics

FillCache (FUN) ¶ FUNCTION FillCache : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext cache Trj_EvalCache Input x LREAL segment SegmentId t LREAL Return FillCache BOOL