Trj_JoinRange (FUN) ¶ FUNCTION Trj_JoinRange : BOOL Joins a range of a second trajectory to trDst. Precondition: The number of phases in tr and (nEnd-nStart) together is at most MAX_TRAJECTORY_PHASES Returns FALSE if the resulting trajectory would be too long (too many phases). InOut: Scope Name Type Comment Inout trDst Trajectory Inout Const tr Trajectory Input nStart DINT Index of the first phase in tr to copy nEnd DINT Index one past the last phase in tr to copy Return Trj_JoinRange BOOL
DynV2State_ApplyDynState (FUN) ¶ FUNCTION DynV2State_ApplyDynState InOut: Scope Name Type Inout uDst SMRB.DynVState Inout Const uSrc SMRB.DynV2State Input w DynState dJerk LREAL
DynVState_ApplyDynState (FUN) ¶ FUNCTION DynVState_ApplyDynState InOut: Scope Name Type Inout uDst SMRB.DynVState Inout Const uSrc SMRB.DynVState Input w DynState dJerk LREAL
Trj_NumSamples (FUN) ¶ FUNCTION Trj_NumSamples : DINT InOut: Scope Name Type Comment Inout Const tr Trajectory Input nPhases DINT Count samples of the first nPhases phases Return Trj_NumSamples DINT
Trj_Phase (STRUCT) ¶ TYPE Trj_Phase : STRUCT InOut: Name Type Comment typ Trj_PhaseType Type of the phase: maximum or minimum jerk dDuration LREAL Duration of the phase in seconds wEnd DynState The state at the end of the phase firstSample DINT nSamples DINT
Trj_TrajectoryPair_IsValid (FUN) ¶ FUNCTION Trj_TrajectoryPair_IsValid : BOOL Checks whether the two trajectories have at least one phase in total and if they can be joined into one trajectory. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const trPrefix Trajectory trSuffix Trajectory Return Trj_TrajectoryPair_IsValid BOOL
VStateRangeMode (ENUM) ¶ TYPE VStateRangeMode : The possible modes for ComputeVStateRange. Attributes: qualified_only InOut: Name Initial Comment FixedEpsilon 0 The default mode up to 4.6.1.0: use a fixed epsilon to turn off averaged values. ContEpsilon 1 Use an epsilon based on derivStepSize and “ramp in” use of averaged values for small values of dDeltaS. Off 2 New default for versions > 4.6.1.0: don’t use averaged values.
Trj_DynStateNext_CheckVelocity (FUN) ¶ FUNCTION Trj_DynStateNext_CheckVelocity : BOOL Returns FALSE if the velocity is becoming negative when applying dj for time dTs to wCur . InOut: Scope Name Type Inout Const wCur DynState Input dj LREAL dTs LREAL dEps_v LREAL Return Trj_DynStateNext_CheckVelocity BOOL
Trj_FindIntermediateTime (FUN) ¶ FUNCTION Trj_FindIntermediateTime : BOOL Calculates the time t when position ds is reached given an initial state w0 at time t = 0 with w0.ds <= ds, a constant jerk dj, an upper bound tUp > 0 for t such that ds <= w1.ds for w1 = Trj_DynStateNext(w0, dj, tUp) InOut: Scope Name Type Inout w0 DynState Input dj LREAL tUp LREAL ds LREAL Return Trj_FindIntermediateTime BOOL Output t LREAL
Trj_TrajectoryPair_GetEndDynState (FUN) ¶ FUNCTION Trj_TrajectoryPair_GetEndDynState : BOOL Returns the dynamic state at the end of the two trajectories. Please note: The trajectories must have at least one phase in total. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const trPrefix Trajectory trSuffix Trajectory Inout wEnd DynState Return Trj_TrajectoryPair_GetEndDynState BOOL