Trj_BusTaskCycleInfo (STRUCT) ¶ TYPE Trj_BusTaskCycleInfo : STRUCT InOut: Name Type Comment busTaskCycle ULINT The bus task cycle in which the planner assumed the sample would be interpolated. tRest LREAL The fractional part of the bus task cycle, see busTaskCycle (0 <= tRest < busTaskInterval) busTaskInterval LREAL The bus task interval.
Trj_BusTaskCycleInfo_AddTimeOffset (FUN) ¶ FUNCTION Trj_BusTaskCycleInfo_AddTimeOffset InOut: Scope Name Type Inout btc Trj_BusTaskCycleInfo Input t LREAL
TrajectorySampler (FB) ¶ FUNCTION_BLOCK FINAL TrajectorySampler Methods: Execute GetPhaseType IsBuffering Reset StartNewSegment Structure: Execute (Method) GetPhaseType (Method) IsBuffering (Method) Reset (Method) StartNewSegment (Method)
TrajectorySampler.Execute (METH) ¶ METHOD FINAL Execute : SMC_ERROR InOut: Scope Name Type Comment Inout pathOut PathElemQueue sampleQueue Trj_PlanningSampleQueue trs Trj_State pathIn PathQueue stats Trj_Statistics Inout Const result Trj_PlanningResult config Trj_PlanningConfig Input fSyncBufferDuration LREAL The minimum duration of the sample queue in seconds dMinTime LREAL Allows computation of the minimum duration of samples to emit. bPausing BOOL bNewPathElemAvailable BOOL nTrajectory TrajectoryId Return Execute SMC_ERROR Output dTSamplesProduced LREAL bEndOfSegment BOOL bTrajectoryDone BOOL
Trj_BustaskCycleInfo_Ceil (FUN) ¶ FUNCTION Trj_BustaskCycleInfo_Ceil : ULINT InOut: Scope Name Type Inout Const btc Trj_BusTaskCycleInfo Return Trj_BustaskCycleInfo_Ceil ULINT
Trj_BustaskCycleInfo_IsLessThan (FUN) ¶ FUNCTION Trj_BustaskCycleInfo_IsLessThan : BOOL InOut: Scope Name Type Inout Const btc0 Trj_BusTaskCycleInfo btc1 Trj_BusTaskCycleInfo Return Trj_BustaskCycleInfo_IsLessThan BOOL
Trj_BustaskCycle_Diff (FUN) ¶ FUNCTION Trj_BustaskCycle_Diff : LINT InOut: Scope Name Type Input btc0 ULINT btc1 ULINT Return Trj_BustaskCycle_Diff LINT
Trj_DebugData (STRUCT) ¶ TYPE Trj_DebugData : STRUCT InOut: Name Type Comment la LREAL The lookahead when this sample was planned. j_avg LREAL The average jerk during an ipo cycle. j_low LREAL The lower jerk limit for this sample. j_hgh LREAL The upper jerk limit for this sample. planningResult Trj_PlanningResultTag The planning result. activeConstraint Constraint_Info The constraint that determined the jerk for this sample. limitingConstraint_low Constraint_Info The lower constraint. limitingConstraint_hgh Constraint_Info The upper constraint. impedingConstraint Constraint_Info The constraint that caused the planner to fail. cs_Start SM3M.SMC_Frame The start coordinate system of the current path element at planning time. cs_Dest SM3M.SMC_Frame The dest coordinate system of the current path element at planning time.
Trj_BustaskCycleInfo_ToTime (FUN) ¶ FUNCTION Trj_BustaskCycleInfo_ToTime : LREAL Returns the time from btc to the given curBustaskCounter . InOut: Scope Name Type Inout Const btc Trj_BusTaskCycleInfo Input curBustaskCounter ULINT Return Trj_BustaskCycleInfo_ToTime LREAL
Trj_BustaskCycleInfo_SetZero (FUN) ¶ FUNCTION Trj_BustaskCycleInfo_SetZero InOut: Scope Name Type Inout btc Trj_BusTaskCycleInfo