DynVState_UnapplyParamState (FUN) ¶ FUNCTION DynVState_UnapplyParamState : BOOL Assuming uSrc(x) = uDst(sigma(x)), and given ps = (sigma(x), sigma’(x), sigma’’(x)), computes the first two derivatives of uDst(sigma(x)) according to the chain rule. Note: if sigma’(x) = 0, then an error is returned. InOut: Scope Name Type Return DynVState_UnapplyParamState BOOL Inout uDst SMRB.DynVState Inout Const uSrc SMRB.DynVState ps ParamState
OutStringStream.GetString (METH) ¶ METHOD GetString InOut: Scope Name Type Inout str STRING((BUFFER_SIZE - 1))
OutStringStream.Init (METH) ¶ METHOD Init
DynLimits_LimitRatio (FUN) ¶ FUNCTION DynLimits_LimitRatio : BOOL Limits the ratio between the maximum velocity and maximum acceleration, as well as between the maximum acceleration and maximum jerk. The path planner of the CP kernel assumes that the path velocity and acceleration don’t change significantly during a single planning interval. This assumption is violated if the planning interval is very long, or if the allowed jerk and acceleration are very high compared to the maximum velocity. (E.g., the maximum velocity could be reached in a single planning interval from standstill.) This function limits the maximum acceleration, such that it takes at least Globals.limitsMaxIntervals planning intervals to reach the maximum velocity. And it limits the maximum jerk such that it takes at least Globals.limitsMaxIntervals planning intervals to reach the maxmimum acceleration. Together, this means that the maximum velocity that can be reached from standstill in dTs is 1/limitsMaxIntervals^2 * vmax. See SM-1428 InOut: Scope Name Type Comment Return DynLimits_LimitRatio BOOL Inout dl SMRB.DynLimits Input dTs LREAL The planning interval, must be positive
OutFileStream.FB_Exit (METH) ¶ METHOD FB_Exit : BOOL InOut: Scope Name Type Return FB_Exit BOOL Input bInCopyCode BOOL
OutFileStream.IsOpen (METH) ¶ METHOD IsOpen : BOOL InOut: Scope Name Type Return IsOpen BOOL
OutFileStream.Open (METH) ¶ METHOD Open : BOOL InOut: Scope Name Type Return Open BOOL Input sFilePath STRING(255)
OutFileStream.Write (METH) ¶ METHOD Write : BOOL InOut: Scope Name Type Return Write BOOL Input pData POINTER TO BYTE nLen UDINT
DynV3State_ApplyParamState (FUN) ¶ FUNCTION DynV3State_ApplyParamState Assuming uDst(x) = uSrc(sigma(x)), and given ps = (sigma(x), sigma’(x), sigma’’(x)), computes the first two derivatives of uDst(x) according to the chain rule. InOut: Scope Name Type Inout uDst SM3M.SMC_DynV3State Inout Const uSrc SM3M.SMC_DynV3State ps ParamState Input bCompute3rdDeriv BOOL
OutNullStream (FB) ¶ FUNCTION_BLOCK OutNullStream IMPLEMENTS IOutStream Methods: Write Structure: Write (Method)
