Trj_SolvePhaseA (FUN) ¶ FUNCTION Trj_SolvePhaseA : BOOL Solves the following initial value problem: given initial state wk, a cycle interval of dTs seconds, an initial cycle interval of dTs-dTc seconds (with 0 <= dTc <= dTs), find the crossing point where the sign of wk.da equals -diSign for the first time. On success, the trajectory will have two additional phases. The first until the last multiple of dTs before the end, the second for the remaining partial cycle. Note that both phases may have zero duration. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext jerkBounds Trj_JerkBounds tr Trajectory timer SMRB.TimerHires wk DynState impedingConstraint Constraint_Info Input dTc LREAL phaseType Trj_PhaseType dTs LREAL Return Trj_SolvePhaseA BOOL Output da_max LREAL

Trj_Stop.ComputeRoot (METH) ¶ METHOD FINAL ComputeRoot : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext iv Trj_Interval jerkBounds Trj_JerkBounds timer SMRB.TimerHires impedingConstraint Constraint_Info Inout Const wI DynState eps Trj_Epsilons Input dTs LREAL dTau1 LREAL dTau2_est LREAL Estimate for the time of phase I Return ComputeRoot BOOL Output nIter DINT

Trj_Target (FB) ¶ FUNCTION_BLOCK FINAL Trj_Target Methods: Compute Structure: Compute (Method)

Trj_Statistics.OnTrajectoryFailed (METH) ¶ METHOD FINAL OnTrajectoryFailed InOut: Scope Name Type Input error SMC_ERROR

Trj_Stop (FB) ¶ FUNCTION_BLOCK FINAL Trj_Stop Tries to compute a trajectory that stops as fast as possible, after going for time dTau1 with maximum jerk, given the initial state wI. Methods: ComputeRoot Structure: ComputeRoot (Method)

Trj_State_IsNewTrajectory (FUN) ¶ FUNCTION Trj_State_IsNewTrajectory : BOOL InOut: Scope Name Type Inout Const trs Trj_State Return Trj_State_IsNewTrajectory BOOL

Trj_State_IsTargetTrajectory (FUN) ¶ FUNCTION Trj_State_IsTargetTrajectory : BOOL InOut: Scope Name Type Inout Const trs Trj_State eps Trj_Epsilons Input dSEnd LREAL Return Trj_State_IsTargetTrajectory BOOL

Trj_State_GetLookaheadMarker (FUN) ¶ FUNCTION Trj_State_GetLookaheadMarker : LREAL InOut: Scope Name Type Inout Const trs Trj_State Return Trj_State_GetLookaheadMarker LREAL

Trj_State_GetRemainingDuration (FUN) ¶ FUNCTION Trj_State_GetRemainingDuration : LREAL InOut: Scope Name Type Inout Const trs Trj_State Return Trj_State_GetRemainingDuration LREAL

Trj_State_Init (FUN) ¶ FUNCTION Trj_State_Init InOut: Scope Name Type Inout trs Trj_State Inout Const wI DynState Input segmentI SegmentId