Trj_SampleQueue.GetFromStart (METH) ¶ METHOD FINAL GetFromStart : POINTER TO Trj_Sample Returns a pointer to the n-th element if the queue is at least n elements, otherwise 0. The pointer is valid until the next call to RemoveFirst. Only to be called safely from the reading task, or when it is made sure that no elements are removed concurrently. InOut: Scope Name Type Input n UDINT Return GetFromStart POINTER TO Trj_Sample
Trj_SampleQueue.NumElems (METH) ¶ METHOD FINAL NumElems : UDINT Returns the number of samples currently in the queue. InOut: Scope Name Type Return NumElems UDINT
Trj_SampleQueue.RemoveAll (METH) ¶ METHOD FINAL RemoveAll : BOOL InOut: Scope Name Type Return RemoveAll BOOL
Helpers ¶ CheckPosLimitsE (Function) Check_EvalAxisDerivsST (Function) ClosestPowerOf2 (Function) DiffGrid2 (Struct) DiffGrid4 (Struct) DiffGrid4_ND (Struct) DynState_Eq (Function) DynState_Zero (Function) DynVStateArray_Dist (Function) DynVStateArray_Dist3 (Function) DynVState_Dist (Function) ElemFun_ProjectAxisLimitsToPath (Function) EvalAxes (Function) EvalAxes2 (Function) EvalAxes2_Impl (FunctionBlock) EvalAxes_Ori (Function) EvalAxisDerivsS (Function) EvalAxisDerivsST (Function) EvalAxisDerivs_Helper (Function) EvalAxisDerivs_h (Function) EvalAxisDerivs_h_Array (Function) EvalAxisDerivs_h_Array3 (Function) ExtractOriAxesValues (Function) FillCache (Function) HandleRotaryAxes (Function) ManipulatorDynStateT_ApplyDynState (Function) ManipulatorDynStateT_Lint (Function) ManipulatorDynState_ApplyDynState (Function) MinLen (Function) PathElem_EstimatePathLimits (Function) PathElem_EstimateStepSize (Function) PathElem_EvalManipulatorDynStateT (Function) PathElem_LimitEst_ComputeLocs (Function) PathElem_ProjectCommandedAxisLimitsToPath (Function) PathRefLen (Function) PathRefLenI (Function) ProjectAxisLimitsToPath (Function) RotaryAxesDifferentPeriod (Function) Trj_CheckTrajectories (Function) Trj_ComputeEpsilons (Function) Trj_ContainsReversal (Function) Trj_DynStateNext (Function) Trj_DynStateNext_CheckVelocity (Function) Trj_FindIntermediateTime (Function) Trj_GetEndDynState (Function) Trj_InitFailureInfo (Function) Trj_Interval_Assign (Function) Trj_Interval_Invariants (Function) Trj_Interval_SetRoot (Function) Trj_Interval_Update_Off (Function) Trj_Pos_GreaterEq (Function) Trj_Pos_LessEq (Function) Trj_TrajectoryPair_GetEndDynState (Function) Trj_TrajectoryPair_IsRoot (Function) Trj_TrajectoryPair_IsValid (Function) VStateRangeMode (Enum)
Trj_RemoveSuffix (FUN) ¶ FUNCTION Trj_RemoveSuffix : BOOL Removes a given number of phases from the end of a trajectory. Pre: nPhases <= tr.nPhases. InOut: Scope Name Type Return Trj_RemoveSuffix BOOL Inout tr Trajectory Input nPhases DINT
Trj_SampleI (STRUCT) ¶ TYPE Trj_SampleI : STRUCT InOut: Name Type Comment dTDuration LREAL Length of the interval. dJerkCur LREAL Constant jerk value during interval. scheduleInfo Trj_Sample_ScheduleInfo Information about the point in time when this sample is expected to be interpolated. dbgData Trj_DebugData Debug data, only written if compiler define SMC_TRJ_DEBUG_DATA is set.
Trj_SetStartTime (FUN) ¶ FUNCTION Trj_SetStartTime Sets the start time of the trajectory InOut: Scope Name Type Inout tr Trajectory Input t0 LREAL
Trj_PhaseType_Wait (FUN) ¶ FUNCTION Trj_PhaseType_Wait : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_Wait BOOL
Trj_RemoveLastSample (FUN) ¶ FUNCTION Trj_RemoveLastSample : BOOL InOut: Scope Name Type Inout tr Trajectory Inout Const wEnd DynState Return Trj_RemoveLastSample BOOL
Trj_RemovePrefix (FUN) ¶ FUNCTION Trj_RemovePrefix : BOOL Removes a given number of phases from the beginning of a trajectory. Pre: nPhases <= tr.nPhases. InOut: Scope Name Type Inout tr Trajectory Input nPhases DINT Return Trj_RemovePrefix BOOL