FineInterpolator_TriggersIter.Init (METH) ¶ METHOD FINAL Init : BOOL InOut: Scope Name Type Comment Inout path PathElemQueue The path queue of the fine interpolator. Input ds0 LREAL The start position of the sample queue. segment0 SegmentId The start segment of the sample queue. ds1 LREAL The end position of the sample queue segment1 SegmentId The end segment of the sample queue. Return Init BOOL
FineInterpolator_TrjDuration (FB) ¶ FUNCTION_BLOCK FineInterpolator_TrjDuration Calculates the duration until the fine interpolator reaches a certain position on the path. Methods: CalcToPos Init Structure: CalcToPos (Method) Init (Method)
FineInterpolator_TrjDuration.CalcToPos (METH) ¶ METHOD CalcToPos : BOOL InOut: Scope Name Type Input dS LREAL segment SegmentId Return CalcToPos BOOL Output t LREAL
Trj_PlanningSampleQueue.GetTotalDuration (METH) ¶ METHOD FINAL GetTotalDuration : LREAL Returns the total duration of committed and planned samples. The duration is returned in seconds. InOut: Scope Name Type Return GetTotalDuration LREAL
Trj_PlanningSampleQueue.Init (METH) ¶ METHOD FINAL Init : BOOL InOut: Scope Name Type Inout qSamples Trj_SampleQueue Input taskCycleTime LREAL Return Init BOOL
Trj_PlanningSampleQueue.Reinit (METH) ¶ METHOD Reinit InOut: Scope Name Type Inout qSamples Trj_SampleQueue
Trj_Sample (STRUCT) ¶ TYPE Trj_Sample : STRUCT InOut: Name Type Comment phaseType Trj_PhaseType The phase type of this sample. dTDuration LREAL Duration of the sample in seconds. dJerkCur LREAL Constant jerk value during interval. wEnd DynState Dynamics at the end of the interval. eState ETrajectoryState State at the end of the interval. eNextStop ETrajectoryLimit The limit that is the reason for the next stop. nSegment SegmentId The segment number. This number is incremented at every stop, i.e. between buffered movements. nTrajectory TrajectoryId The trajectory number. This number is incremented whenever the synchonicity between planner and fineinterpolator is lost because of a gap in the sample queue. scheduleInfo Trj_Sample_ScheduleInfo Information about the point in time when this sample is expected to be interpolated. dbgData Trj_DebugData
Trj_SampleQueue (FB) ¶ FUNCTION_BLOCK FINAL Trj_SampleQueue A fifo queue of trajectory samples. The queue is written by one task and read by the other. The method Append is only called by the producer task, the methods GetFirst and RemoveFirst are only called by the consumer task. See PathElemQueue for a description of the interface between the planner and the FineInterpolator. Methods: AddReadCursorTimeOffset Append CopyRange Full GetDuration GetFromEnd GetFromStart GetReadPos GetSampleDuration GetWritePos Init IsEmpty NumElems RemoveAll RemoveFirst Reset SetPointer SetReadPos SetWritePos SpaceLeft Structure: AddReadCursorTimeOffset (Method) Append (Method) CopyRange (Method) Full (Method) GetDuration (Method) GetFromEnd (Method) GetFromStart (Method) GetReadPos (Method) GetSampleDuration (Method) GetWritePos (Method) Init (Method) IsEmpty (Method) NumElems (Method) RemoveAll (Method) RemoveFirst (Method) Reset (Method) SetPointer (Method) SetReadPos (Method) SetWritePos (Method) SpaceLeft (Method)
Trj_SampleQueue.AddReadCursorTimeOffset (METH) ¶ METHOD FINAL AddReadCursorTimeOffset Moves the read cursor of the sample queue by a given time offset. Must be smaller or equal to the remaining duration of the first sample. InOut: Scope Name Type Input timeOffset LREAL
Trj_SampleQueue.Append (METH) ¶ METHOD FINAL Append : BOOL Tries to append a new element to the queue. Returns TRUE if the queue was not full yet, FALSE otherwise. InOut: Scope Name Type Inout Const sample Trj_Sample Input nSegment SegmentId nTrajectory TrajectoryId Return Append BOOL