Sort ¶ InsertSorted_LR (Function)
DynFactorsA_Serialize (FUN) ¶ FUNCTION DynFactorsA_Serialize : BOOL InOut: Scope Name Type Return DynFactorsA_Serialize BOOL Input stream SM0.IOutStream Inout Const dfa DynFactorsA
InsertSorted_LR (FUN) ¶ FUNCTION InsertSorted_LR : BOOL Inserts a value into an array of LREAL values. Assumes that the array is sorted in ascending order. Inserts the new value so that the resulting array is sorted in ascending order. Assumes that the array has room for one more value. The value is not inserted if the difference to the next value in the array is equal to or less than dEpsDuplicate. Returns whether the value has been inserted. InOut: Scope Name Type Comment Return InsertSorted_LR BOOL Input pArray POINTER TO LREAL Pointer to start of array nElems UDINT Number of elements in the array dEpsDuplicate LREAL If the element closest to value is equal to or closer than this epsilon, the value is not inserted. Set to a negative value to allow the insertion of duplicates. dValue LREAL The new value to insert
Stream ¶ IOutStream (Interface) Write (Method) MemRange_IsInside (Function) OutBufferedStream (FunctionBlock) Flush (Method) Init (Method) Write (Method) OutFileStream (FunctionBlock) Close (Method) FB_Exit (Method) IsOpen (Method) Open (Method) Write (Method) OutNullStream (FunctionBlock) Write (Method) OutRealTimeStream (FunctionBlock) CommitToStream (Method) Init (Method) Write (Method) OutStringStream (FunctionBlock) GetString (Method) Init (Method) Write (Method) Stream_WriteNewLine (Function) Stream_WriteString (Function)
IOutStream (ITF) ¶ INTERFACE IOutStream Represents a stream to which arbitrary data (array of bytes) can be written. Methods: Write Structure: Write (Method)
IOutStream.Write (METH) ¶ METHOD Write : BOOL Writes a given array of bytes to the stream. Returns whether the write was successful. InOut: Scope Name Type Comment Return Write BOOL Input pData POINTER TO BYTE Pointer to the data to write. nLen UDINT The number of bytes to write.
DynLimitsA_LimitRatio (FUN) ¶ FUNCTION DynLimitsA_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 sqrt(2) planning intervals to reach the maximum velocity. And it limits the maximum jerk such that it takes at least sqrt(2) planning intervals to reach the maxmimum acceleration. Together, this means that the maximum velocity that can be reached from standstill is 1/4 * vmax. See SM-1428 InOut: Scope Name Type Comment Return DynLimitsA_LimitRatio BOOL Inout dla DynLimitsA Input dTs LREAL The planning interval, must be positive
Queue.Clear (METH) ¶ METHOD PUBLIC FINAL Clear Empties the whole queue. task-safety: call from consumer task only
ComputeBisector (FUN) ¶ FUNCTION ComputeBisector : BOOL Computes the perpendicular bisector of two 2D-points. Returns TRUE on success, FALSE if p1 and p2 are too close or not 2D. InOut: Scope Name Type Return ComputeBisector BOOL Inout l Line Inout Const p1 SM3M.SMC_VECTOR3D p2 SM3M.SMC_VECTOR3D
Queue.Dequeue (METH) ¶ METHOD FINAL Dequeue : UDINT Returns the oldest element from the queue, if one exists. The number of bytes copied is returned or 0 if the queue is empty. 0 is also returned on error, e.g. if uiElemDataSizeBytes is too small. task-safety: call from consumer task only InOut: Scope Name Type Comment Return Dequeue UDINT Input pData POINTER TO BYTE A pointer to the underlying data array. pElemData POINTER TO BYTE A pointer where to copy the element, must not be 0 udiElemDataSizeBytes UDINT The size of the buffer pointed to by pElemData