DynLimits (STRUCT) ¶ TYPE DynLimits : STRUCT Describes dynamic limits, e.g. of an axis, or of the path. InOut: Name Type Initial Comment fVelMax LREAL The maximum magnitude of the velocity. fAccMax LREAL The maximum magnitude of the acceleration. fDecMax LREAL The maximum magnitude of the deceleration. fJerkMax LREAL The maximum magnitude of the jerk. fTorqueMax LREAL FPU.GetLRealSpecialVal(FPU.ESpecial_FP_Value.PosInf) The maximum magnitude of the force/torque.
DynLimits_DivInf (FUN) ¶ FUNCTION DynLimits_DivInf : LREAL Divides all limits in lSrc by d. If d is zero, then positive infinity is returned InOut: Scope Name Type Return DynLimits_DivInf LREAL Inout lDst DynLimits Inout Const lSrc DynLimits Input d LREAL
DynLimits_Effective (FUN) ¶ FUNCTION DynLimits_Effective : BOOL InOut: Scope Name Type Comment Return DynLimits_Effective BOOL Inout l DynLimits Out: the effective dynamic limits Inout Const commanded DynLimits The commanded limits ancillary DynLimits The ancillary limits override DynFactors The override factors
DynLimits_Equal (FUN) ¶ FUNCTION DynLimits_Equal : BOOL InOut: Scope Name Type Inout Const l0 DynLimits l1 DynLimits Return DynLimits_Equal BOOL
DynLimits_Infinity (FUN) ¶ FUNCTION DynLimits_Infinity : BOOL InOut: Scope Name Type Return DynLimits_Infinity BOOL Inout l DynLimits
DynLimits_LessOrEqual (FUN) ¶ FUNCTION DynLimits_LessOrEqual : BOOL InOut: Scope Name Type Inout Const l0 DynLimits l1 DynLimits Return DynLimits_LessOrEqual BOOL
DynLimits_Lint (FUN) ¶ FUNCTION DynLimits_Lint : BOOL Linearly interpolates between two limits: l := l0*(1-lambda) + l1*lambda InOut: Scope Name Type Return DynLimits_Lint BOOL Inout l DynLimits Inout Const l0 DynLimits l1 DynLimits Input lambda LREAL
DynLimits_Max (FUN) ¶ FUNCTION DynLimits_Max InOut: Scope Name Type Inout l DynLimits Inout Const l0 DynLimits l1 DynLimits Output SMC_DynLimits_Max BOOL
ICoordinateSystemPrediction.Extrapolate (METH) ¶ METHOD Extrapolate Returns the predicted pose of the CS corresponding to a given time. The returned value only depends on the state and on the time. Note Impementations of this method must not have any (visible) side effects. This means that they must return the same result when given the same state and time input, even if called multiple times in the same bus task interval or in the same planning cycle. InOut: Scope Name Type Comment Inout cs SM3M.SMC_Frame Out: the pose of the CS relative to the base coordinate system Input pState POINTER TO BYTE Pointer to the prediction state t LREAL The time, relative to the start of the task cycle in which the state was copied.
ICoordinateSystemPrediction.GetPredictionState (METH) ¶ METHOD GetPredictionState Returns the prediction state of the coordinate system for the current task cycle. May only be called from the task that updates the state. Note Impementations of this method must not have any (visible) side effects. This means that they must return the same result, even if called multiple times in the same bus task cycle. InOut: Scope Name Type Comment Input pState POINTER TO BYTE Address of a buffer of sufficient size to hold the state information