Trj_SampleQueue_InitDynState (FUN) ¶ FUNCTION Trj_SampleQueue_InitDynState InOut: Scope Name Type Inout q Trj_SampleQueue wInit DynState Output jInit LREAL nSegmentInit SegmentId nTrajectoryInit TrajectoryId phaseTypeInit Trj_PhaseType
Trj_SampleQueue.SetWritePos (METH) ¶ METHOD FINAL SetWritePos : BOOL InOut: Scope Name Type Input nPos UDINT Return SetWritePos BOOL
Trj_SampleQueue.SpaceLeft (METH) ¶ METHOD FINAL SpaceLeft : UDINT Returns how many samples may be appended to the queue. InOut: Scope Name Type Return SpaceLeft UDINT
Trj_SampleQueue_Cursor (STRUCT) ¶ TYPE Trj_SampleQueue_Cursor : STRUCT Represents a cursor for a Trj_SampleQueue . It consists of a cursor position (absolute or relative) in the queue and a time offset in seconds in the sample at the cursor position. InOut: Name Type cursorPos UDINT timeOffset LREAL
Trj_SampleQueue.Reset (METH) ¶ METHOD FINAL Reset
Trj_SampleQueue.RemoveFirst (METH) ¶ METHOD FINAL RemoveFirst : BOOL Removes the first sample of the queue. Invalidates the pointer returned by a prior call to GetFirst. May only be called by the consumer task. InOut: Scope Name Type Return RemoveFirst BOOL
Trj_EvalCache (FB) ¶ FUNCTION_BLOCK FINAL Trj_EvalCache Cache for the evaluation and kinematic transformation along a path. The path is given as a queue (PathQueue). For each path element, a cache element is allocated on demand. The cache for each element (PathElem) is a fixed grid of values. The grid width depends on the maximum path velocity, the element length and the maximum curvature. For each point on the grid, the result of the inverse transformation is stored. On evaluation, the axis position, velocity, acceleration, and jerk of the neighbouring grid points is linearly interpolated. InOut: Scope Name Type Input dTs LREAL Methods: CutSuffixOfLastElem Eval EvalSlot FindCacheEndPos GetARefForPos GetAxesPos GetAxisStartPos GetCacheElemStepSize GetCachedEndPositionACS GetElem GetFirst GetPathPointer GetSlot Init InitI InterpolateBetweenSlots InvalidateCacheAfter NumCachedElems Reinit RemoveFirst RemoveLast Reset SetStartPos SetupCacheIter Structure: CutSuffixOfLastElem (Method) Eval (Method) EvalSlot (Method) FindCacheEndPos (Method) GetARefForPos (Method) GetAxesPos (Method) GetAxisStartPos (Method) GetCacheElemStepSize (Method) GetCachedEndPositionACS (Method) GetElem (Method) GetFirst (Method) GetPathPointer (Method) GetSlot (Method) Init (Method) InitI (Method) InterpolateBetweenSlots (Method) InvalidateCacheAfter (Method) NumCachedElems (Method) Reinit (Method) RemoveFirst (Method) RemoveLast (Method) Reset (Method) SetStartPos (Method) SetupCacheIter (Method)
Trj_EvalCache.GetCacheElemStepSize (METH) ¶ METHOD FINAL GetCacheElemStepSize : BOOL Returns the cache element step size for a given element number InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input k UDINT Return GetCacheElemStepSize BOOL Output stepSize LREAL
Trj_EvalCache.GetCachedEndPositionACS (METH) ¶ METHOD FINAL GetCachedEndPositionACS : BOOL Returns the end position of an element, if already known. InOut: Scope Name Type Inout a TRAFO.AXISPOS_REF Input k UDINT Return GetCachedEndPositionACS BOOL Output pathElemId PathElem_Id
Trj_EvalCache.GetElem (METH) ¶ METHOD GetElem : POINTER TO Trj_CacheElem InOut: Scope Name Type Input k UDINT Return GetElem POINTER TO Trj_CacheElem