Trj_tEnd (FUN) ¶ FUNCTION Trj_tEnd : LREAL InOut: Scope Name Type Inout Const tr Trajectory Return Trj_tEnd LREAL
DynState (STRUCT) ¶ TYPE DynState : STRUCT InOut: Name Type ds LREAL dv LREAL da LREAL
DynState_ApplyDynState (FUN) ¶ FUNCTION DynState_ApplyDynState : BOOL Given a composite function h(x) = g(f(x)) and the dynamic states of g and f, calculates the dynamic state of h. InOut: Scope Name Type Return DynState_ApplyDynState BOOL Inout wH DynState jH LREAL Inout Const wG DynState Input jG LREAL Inout Const wF DynState Input jF LREAL
Trj_PhaseType (ENUM) ¶ TYPE Trj_PhaseType : Attributes: qualified_only InOut: Name TAU_1 TAU_2 TAU_3 WAIT
Trj_PhaseType_MaxJerk (FUN) ¶ FUNCTION Trj_PhaseType_MaxJerk : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_MaxJerk BOOL
Trj_PhaseType_MinJerk (FUN) ¶ FUNCTION Trj_PhaseType_MinJerk : BOOL InOut: Scope Name Type Input pt Trj_PhaseType Return Trj_PhaseType_MinJerk BOOL
DynState_IsConstant (FUN) ¶ FUNCTION DynState_IsConstant : BOOL InOut: Scope Name Type Inout Const w DynState Input j LREAL Return DynState_IsConstant BOOL
DynState_Serialize (FUN) ¶ FUNCTION DynState_Serialize : BOOL InOut: Scope Name Type Return DynState_Serialize BOOL Input stream SM0.IOutStream Inout Const w DynState
DynState_SetConstant (FUN) ¶ FUNCTION DynState_SetConstant InOut: Scope Name Type Inout w DynState Input ds LREAL
Trj_Join1 (FUN) ¶ FUNCTION Trj_Join1 : BOOL Joins a prefix of tr to trDst. Precondition: The number of phases in trDst and nPhases together is at most MAX_TRAJECTORY_PHASES Returns FALSE if the resulting trajectory would be too long (too many phases). InOut: Scope Name Type Inout trDst Trajectory Inout Const tr Trajectory Input nPhases DINT Return Trj_Join1 BOOL