Path_EvalCache_ClearBefore (FUN) ¶ FUNCTION Path_EvalCache_ClearBefore : SMC_ERROR Removes all elements before the k-th from both path and cache. Fails if the path does not contain at least MAX(0, k-1) elements. InOut: Scope Name Type Inout path PathQueue cache Trj_EvalCache Input k UDINT Return Path_EvalCache_ClearBefore SMC_ERROR
FineInterpolator.SetDynAxesState (METH) ¶ METHOD SetDynAxesState InOut: Scope Name Type Inout Const uq SMRB.DynVState Output bHasChanged BOOL
FineInterpolator.SetDynVTracker (METH) ¶ METHOD FINAL SetDynVTracker InOut: Scope Name Type Input dynVTracker IDynVTracker
FineInterpolator_TriggersIter (FB) ¶ FUNCTION_BLOCK FINAL FineInterpolator_TriggersIter Iterator for the triggers in the current trajectory (path and sample queue) of the fine interpolator. Methods: Advance Get Init Structure: Advance (Method) Get (Method) Init (Method)
FineInterpolator_TriggersIter.Advance (METH) ¶ METHOD FINAL Advance : BOOL InOut: Scope Name Type Return Advance BOOL
FineInterpolator_TriggersIter.Get (METH) ¶ METHOD Get : ULINT InOut: Scope Name Type Return Get ULINT Output dS LREAL segment SegmentId errorId SMC_ERROR
FineInterpolator.StartCycle (METH) ¶ METHOD FINAL StartCycle
FineInterpolator.WaitForSamplesAtCurrentPosition (METH) ¶ METHOD FINAL WaitForSamplesAtCurrentPosition Copies the current path element so that after calling this method, the path can be discarded. Precondition: the fine interpolator is stopped
FineInterpolator.IsInSync (METH) ¶ METHOD FINAL IsInSync : BOOL InOut: Scope Name Type Return IsInSync BOOL
FineInterpolator.IsStopped (METH) ¶ METHOD FINAL IsStopped : BOOL Returns whether the trajectory state is stopped, i.e. the fine interpolator is in standstill relative to the path and the end of the planned trajectory has been reached. Note: also returns TRUE if HasValidPosition is FALSE. InOut: Scope Name Type Return IsStopped BOOL