SMC_TG_DynState_Compose (FUN) ¶ FUNCTION SMC_TG_DynState_Compose Computes the value and the first three derivatives of a composed function a(b(x)) at x0 given the value and the first three derivatives of a at x0 and of b at g(x0). InOut: Scope Name Type Inout dyn SMC_TG_DynState Inout Const dynA SMC_TG_DynState dynB SMC_TG_DynState
SMC_TG_DynState_Equal (FUN) ¶ FUNCTION SMC_TG_DynState_Equal : BOOL InOut: Scope Name Type Inout Const dynA SMC_TG_DynState dynB SMC_TG_DynState Return SMC_TG_DynState_Equal BOOL
SMC_TG_DynState_Interpolate (FUN) ¶ FUNCTION SMC_TG_DynState_Interpolate Interpolates between two dynstates. See |SMC_TG_DynState_TimeForPos| for the inverse functionality. InOut: Scope Name Type Comment Inout dynX SMC_TG_DynState The resulting state at time t Inout Const dyn0 SMC_TG_DynState The state at time 0 dyn1 SMC_TG_DynState The state at time deltaT Input t LREAL The time at which to interpolate in seconds deltaT LREAL The time difference between dyn0 and dyn1 in seconds xPeriod LREAL If the dynstates are from a modulo axis the modulo period, otherwise 0.
SMC_TG_DynState_InterpolatingPoly (FUN) ¶ FUNCTION SMC_TG_DynState_InterpolatingPoly InOut: Scope Name Type Inout poly SMC_POLYNOMIAL Inout Const dyn0 SMC_TG_DynState dyn1 SMC_TG_DynState Input deltaT LREAL xPeriod LREAL
SMC_TG_DynState_Max (FUN) ¶ FUNCTION SMC_TG_DynState_Max This function returns the maximum of two dyn states. InOut: Scope Name Type Inout dynMin SMC_TG_DynState Inout Const dynA SMC_TG_DynState dynB SMC_TG_DynState
SMC_TG_DynState_Min (FUN) ¶ FUNCTION SMC_TG_DynState_Min This function returns the minimum of two dyn states. InOut: Scope Name Type Inout dynMin SMC_TG_DynState Inout Const dynA SMC_TG_DynState dynB SMC_TG_DynState
SMC_TG_DynState_ScaleAndOffset (FUN) ¶ FUNCTION SMC_TG_DynState_ScaleAndOffset This function scales and offsets a given SMC_TG_DynState dynIn(x). dynOut(x) = scale*dynIn(x) + offset. InOut: Scope Name Type Inout dynOut SMC_TG_DynState Inout Const dynIn SMC_TG_DynState Input scale LREAL offset LREAL
SMC_TG_DynState_ScalingComposition (FUN) ¶ FUNCTION SMC_TG_DynState_ScalingComposition Computes the value and the first three derivatives of a composed function a(b(x)) at x0 with b(x) being a linear function b(x) = scaleFactor*x + const. This function implements a special case of SMC_TG_DynState_Compose . InOut: Scope Name Type Comment Inout dyn SMC_TG_DynState The resulting dyn state Inout Const dynA SMC_TG_DynState The value and the first three derivatives of function a at x0 Input scaleFactor LREAL The (scale) factor of the linear function.
SMC_TG_Ramptype_Quadratic.IsAllowedAccelerationJump (PROP) ¶ PROPERTY IsAllowedAccelerationJump : BOOL whether the acceleration may jump when using this ramptype
SMC_TG_Ramptype_Quadratic.IsInterruptible (PROP) ¶ PROPERTY IsInterruptible : BOOL whether this ramptype is interruptible