PathElem_FindByS_Right (FUN) ¶ FUNCTION PathElem_FindByS_Right : POINTER TO PathElem Similar to PathElem_FindByS , but if there are multiple path elements at ds , the rightmost one is returned. InOut: Scope Name Type Inout Const path PathQueue Input ds LREAL segment SegmentId Return PathElem_FindByS_Right POINTER TO PathElem Output k UDINT dS_end LREAL dS_start LREAL
PathElem_Eval.EvalDerivs (METH) ¶ METHOD FINAL EvalDerivs : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout w ElemDynState Out: The position/orientation and dervatives wrt. the interpolation parameter x Given in the coordinate system of the element function. Input x LREAL t LREAL Return EvalDerivs BOOL
PathElem_Eval.EvalOri (METH) ¶ METHOD FINAL EvalOri : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun vT SM3M.SMC_Vector3D Inout q SM3M.SMC_Quat Out: the orientation, given in the coordinate system of the element function. Input x LREAL t LREAL Return EvalOri BOOL
PathElem_Eval.EvalPos (METH) ¶ METHOD FINAL EvalPos : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout vT SM3M.SMC_Vector3D Out: the position, given in the coordinate system of the element function. 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 t LREAL bComputePsArc BOOL Return EvalPos BOOL
PathElem_AddData_SetMvtIds (FUN) ¶ FUNCTION PathElem_AddData_SetMvtIds InOut: Scope Name Type Inout addData PathElem_AddData Inout Const mvtIds MvtIdRange
PathElem_CheckG2 (FB) ¶ FUNCTION_BLOCK FINAL PathElem_CheckG2 Checks whether the transition between two consecutive elements is G2 continuous, i.e. whether the position and the first and second derivative (w.r.t. the arc length) are equal where the two elements join. Also checks whether the orientation, angular velocity and angular acceleration are equal. Equality is checked up to a given accuracy. InOut: Scope Name Type Initial Comment Input dPositionTolerance LREAL SM3M.g_fSMC_CNC_EPS The allowed cartesian absolute position difference in technical units. dAngleTolerance LREAL 0.0001 The allowed angle deviation of adjacent tangents or acceleration vectors in degrees. dAccelerationMagnitudeTolerance LREAL SM3M.g_fSMC_CNC_EPS The allowed absolute difference of the acceleration magnitude dOrientationDifference LREAL SM3M.g_fSMC_CNC_EPS The allowed absolute difference between orientations, maximum angular difference of angular velocity vectors and angular velocity vectors in degrees. dAngularVelocityMagnitudeTolerance LREAL SM3M.g_fSMC_CNC_EPS The allowed absolute difference between the magnitude, of angular velocity vectors in degrees per technical unit. dAngularAccelerationMagnitudeTolerance LREAL SM3M.g_fSMC_CNC_EPS The allowed absolute difference between the magnitude, of angular acceleration vectors in degrees per technical units squared. Methods: Check Structure: Check (Method)
PathElem_Eval (FB) ¶ FUNCTION_BLOCK FINAL PathElem_Eval Methods: Eval EvalDerivs EvalOri EvalPos Structure: Eval (Method) EvalDerivs (Method) EvalOri (Method) EvalPos (Method)
PathElem_Eval.Eval (METH) ¶ METHOD FINAL Eval : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout f SM3M.SMC_Frame Out: the position and orientation, given in the coordinate system of the element function. 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 t LREAL bComputePsArc BOOL Return Eval BOOL
PathElem_CheckG2.Check (METH) ¶ METHOD FINAL Check : G2CheckResult InOut: Scope Name Type Return Check G2CheckResult Inout Const pe0 PathElem pe1 PathElem
PathElem_ClearPausePosition (FUN) ¶ FUNCTION PathElem_ClearPausePosition InOut: Scope Name Type Inout pe PathElem
