Trj_TrajectoryPair_IsRoot (FUN) ¶ FUNCTION Trj_TrajectoryPair_IsRoot : BOOL Returns whether the dynamic end state is a root. InOut: Scope Name Type Inout Const trPrefix Trajectory trSuffix Trajectory eps Trj_Epsilons Return Trj_TrajectoryPair_IsRoot BOOL
Trj_CP_Sampler (FB) ¶ FUNCTION_BLOCK FINAL Trj_CP_Sampler Methods: CreateSamples Structure: CreateSamples (Method)
Trj_CP_Sampler.CreateSamples (METH) ¶ METHOD FINAL CreateSamples : SMC_ERROR InOut: Scope Name Type Inout sampleQueue Trj_PlanningSampleQueue trs Trj_State bFirstSample BOOL stats Trj_Statistics Inout Const result Trj_PlanningResult cfg Trj_PlanningConfig Input dMinTime LREAL nTrajectory TrajectoryId Return CreateSamples SMC_ERROR Output bTrajectoryDone BOOL dTSamplesProduced LREAL
Trj_Interval_SetRoot (FUN) ¶ FUNCTION Trj_Interval_SetRoot : BOOL Returns whether the root |Trj_Interval.bRootFound| has been successfully set to TRUE. If the check of the root is not successful, then |Trj_Interval.bRootFound| is set to FALSE. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval Return Trj_Interval_SetRoot BOOL
Trj_Interval_Update_Off (FUN) ¶ FUNCTION Trj_Interval_Update_Off : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval tr_rst Trajectory Return Trj_Interval_Update_Off BOOL
Trj_ContainsReversal (FUN) ¶ FUNCTION Trj_ContainsReversal : BOOL Returns whether the trajectory contains a reversal. Note: only trajectories with an end-velocity >= -eps.dEps_v are checked, for trajectories with negative end-velocity this function returns FALSE. InOut: Scope Name Type Inout Const w0 DynState tr Trajectory Input dEps_v LREAL Return Trj_ContainsReversal BOOL
Trj_DynStateNext (FUN) ¶ FUNCTION Trj_DynStateNext : DynState InOut: Scope Name Type Inout Const wCur DynState Input dj LREAL dTs LREAL Return Trj_DynStateNext DynState
Trj_GetEndDynState (FUN) ¶ FUNCTION Trj_GetEndDynState : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const tr Trajectory Inout wEnd DynState Return Trj_GetEndDynState BOOL
Trj_InitFailureInfo (FUN) ¶ FUNCTION Trj_InitFailureInfo : BOOL InOut: Scope Name Type Return Trj_InitFailureInfo BOOL Inout failureInfo Trj_FailureInfo Input error SM3_Error.SMC_Error
Trj_Interval_Assign (FUN) ¶ FUNCTION Trj_Interval_Assign : BOOL InOut: Scope Name Type Return Trj_Interval_Assign BOOL Inout ivDst Trj_Interval Inout Const ivSrc Trj_Interval