Path_GetPausePosition (FUN) ¶ FUNCTION Path_GetPausePosition : BOOL InOut: Scope Name Type Return Path_GetPausePosition BOOL Inout path PathQueue ppPause PathPosition Input externalID ULINT relPos LREAL
Path_IsPosAtElementId (FUN) ¶ FUNCTION Path_IsPosAtElementId : BOOL Uses PathElem_FindByS_LeftRight to search for the possible PathElem range at the specified position . Returns whether the PathElem range contains the specified pathElemId by calling PathElemRange_ContainsId . InOut: Scope Name Type Inout Const path PathQueue position PathPosition Input pathElemId PathElem_Id Return Path_IsPosAtElementId BOOL
Path_FindPausePosition (FUN) ¶ FUNCTION Path_FindPausePosition : BOOL InOut: Scope Name Type Inout Const path PathQueue Input k UDINT dS_start LREAL Return Path_FindPausePosition BOOL Output dS LREAL pPe POINTER TO PathElem
Path_GetLastElem (FUN) ¶ FUNCTION Path_GetLastElem : POINTER TO PathElem Returns the last PathElem that is not the end of the path, if there is any. Otherwise, the end of path PathElem or 0 is returned. InOut: Scope Name Type Inout Const path PathQueue Return Path_GetLastElem POINTER TO PathElem
Path_DynLimitsAsym_AccLimitsFromTorque (FUN) ¶ FUNCTION Path_DynLimitsAsym_AccLimitsFromTorque Given limits and a second order differential equation T = T_xx*f_xx + T_x2*f_x^2 + T_off for the torque, calculates equivalent limits for the acceleration f_xx. Sets all other limits to +/- infinity. InOut: Scope Name Type Inout fLimits Path_DynLimitsAsym Input fTorqueMin LREAL fTorqueMax LREAL T_xx LREAL T_x2 LREAL T_off LREAL Inout Const f ParamState
Path_MakeConsistent (FUN) ¶ FUNCTION Path_MakeConsistent Updates the elements of the `` path’’ to make it consistent, i.e. gives each element and each segment a unique ID and ensures that IDs are increasing. InOut: Scope Name Type Inout Const path PathQueue Input kLastValid UDINT
Path_NextSegment (FUN) ¶ FUNCTION Path_NextSegment : SegmentId InOut: Scope Name Type Inout Const path PathQueue Input curSegment SegmentId Return Path_NextSegment SegmentId Output pElemNext POINTER TO PathElem
Path_ClearPausePositions (FUN) ¶ FUNCTION Path_ClearPausePositions InOut: Scope Name Type Inout path PathQueue
Path_Distance (FUN) ¶ FUNCTION Path_Distance : LREAL Calculates the distance between the position dsA_rel and dsB_rel. Both positons are relative to the path element with index kA and kB, respectively. InOut: Scope Name Type Inout path PathQueue Input kA UDINT kB UDINT dsA_rel LREAL dsB_rel LREAL Return Path_Distance LREAL
IEndOfElemObserver (ITF) ¶ INTERFACE IEndOfElemObserver An interface that is called whenever the planner reaches the end of a path element for the first time. Methods: OnEndOfElemReached Structure: OnEndOfElemReached (Method)