PlannerTime.Reset (METH) ¶ METHOD FINAL Reset
Trj_CacheSlotState (ENUM) ¶ TYPE Trj_CacheSlotState : Attributes: qualified_only InOut: Name empty filled
GetTimeForPos.Init (METH) ¶ METHOD Init Initializes a new converter based on a reference time and a dynstate. InOut: Scope Name Type Comment Input t0 LREAL The reference time that corresponds to the dynstate. Inout Const w0 DynState The state at time t0
GetTimeForPos.InitConst (METH) ¶ METHOD InitConst Initializes a constant converter, that returns tConst for all positions. InOut: Scope Name Type Input tConst LREAL
Trajectory ¶ Cache GetTimeForPos (FunctionBlock) Get (Method) Init (Method) InitConst (Method) Rebase (Method) Trj_CacheElem (Struct) Trj_CacheSlot (Struct) Trj_CacheSlotState (Enum) Trj_Cache_SlotOffset (Function) Trj_Cache_Slot_In_Elem (Function) Trj_EvalCache (FunctionBlock) CutSuffixOfLastElem (Method) Eval (Method) EvalSlot (Method) FindCacheEndPos (Method) GetARefForPos (Method) GetAxesPos (Method) GetAxisStartPos (Method) GetCacheElemStepSize (Method) GetCachedEndPositionACS (Method) GetElem (Method) GetFirst (Method) GetPathPointer (Method) GetSlot (Method) Init (Method) InitI (Method) InterpolateBetweenSlots (Method) InvalidateCacheAfter (Method) NumCachedElems (Method) Reinit (Method) RemoveFirst (Method) RemoveLast (Method) Reset (Method) SetStartPos (Method) SetupCacheIter (Method) Trj_EvalCacheIter (FunctionBlock) Advance (Method) Get (Method) Init (Method) IsValid (Method) Setup (Method) Check_Trj_ApplyDynState (Function) DataStructure Trajectory (Struct) Trj_AppendPhase (Function) Trj_AppendSample (Function) Trj_AppendSuffix (Function) Trj_Assign (Function) Trj_AssignOffT (Function) Trj_CanJoinTrajectories (Function) Trj_Duration (Function) Trj_FindSampleByDuration (Function) Trj_GetSample (Function) Trj_Init (Function) Trj_Interval_RootFound (Function) Trj_Iterator (FunctionBlock) Trj_IteratorAdaptor (FunctionBlock) Trj_JerkCacheElem (Struct) Trj_Join (Function) Trj_Join1 (Function) Trj_JoinRange (Function) Trj_NumSamples (Function) Trj_Phase (Struct) Trj_PhaseType (Enum) Trj_PhaseType_MaxJerk (Function) Trj_PhaseType_MinJerk (Function) Trj_PhaseType_Wait (Function) Trj_RemoveLastSample (Function) Trj_RemovePrefix (Function) Trj_RemoveSuffix (Function) Trj_SampleI (Struct) Trj_SetStartTime (Function) Trj_tEnd (Function) DynState (Struct) DynState_ApplyDynState (Function) DynState_IsConstant (Function) DynState_Serialize (Function) DynState_SetConstant (Function) DynV2State_ApplyDynState (Function) DynVState_ApplyDynState (Function) Helpers CheckPosLimitsE (Function) Check_EvalAxisDerivsST (Function) ClosestPowerOf2 (Function) DiffGrid2 (Struct) DiffGrid4 (Struct) DiffGrid4_ND (Struct) DynState_Eq (Function) DynState_Zero (Function) DynVStateArray_Dist (Function) DynVStateArray_Dist3 (Function) DynVState_Dist (Function) ElemFun_ProjectAxisLimitsToPath (Function) EvalAxes (Function) EvalAxes2 (Function) EvalAxes2_Impl (FunctionBlock) EvalAxes_Ori (Function) EvalAxisDerivsS (Function) EvalAxisDerivsST (Function) EvalAxisDerivs_Helper (Function) EvalAxisDerivs_h (Function) EvalAxisDerivs_h_Array (Function) EvalAxisDerivs_h_Array3 (Function) ExtractOriAxesValues (Function) FillCache (Function) HandleRotaryAxes (Function) ManipulatorDynStateT_ApplyDynState (Function) ManipulatorDynStateT_Lint (Function) ManipulatorDynState_ApplyDynState (Function) MinLen (Function) PathElem_EstimatePathLimits (Function) PathElem_EstimateStepSize (Function) PathElem_EvalManipulatorDynStateT (Function) PathElem_LimitEst_ComputeLocs (Function) PathElem_ProjectCommandedAxisLimitsToPath (Function) PathRefLen (Function) PathRefLenI (Function) ProjectAxisLimitsToPath (Function) RotaryAxesDifferentPeriod (Function) Trj_CheckTrajectories (Function) Trj_ComputeEpsilons (Function) Trj_ContainsReversal (Function) Trj_DynStateNext (Function) Trj_DynStateNext_CheckVelocity (Function) Trj_FindIntermediateTime (Function) Trj_GetEndDynState (Function) Trj_InitFailureInfo (Function) Trj_Interval_Assign (Function) Trj_Interval_Invariants (Function) Trj_Interval_SetRoot (Function) Trj_Interval_Update_Off (Function) Trj_Pos_GreaterEq (Function) Trj_Pos_LessEq (Function) Trj_TrajectoryPair_GetEndDynState (Function) Trj_TrajectoryPair_IsRoot (Function) Trj_TrajectoryPair_IsValid (Function) VStateRangeMode (Enum) Trj_CP_Sampler (FunctionBlock) CreateSamples (Method) Trj_CP_Single (FunctionBlock) CommitNewTrajectory (Method) NewSafeTrajectory (Method) NewTargetTrajectory (Method) Trj_CP_Stop (FunctionBlock) Compute (Method) Trj_CP_Target (FunctionBlock) Compute (Method) Trj_Cycler (FunctionBlock) Trj_Epsilons (Alias) Trj_FailureCause (Enum) Trj_FailureInfo (Struct) Trj_FindMinTau2 (Function) Trj_ImproveIV_Root (FunctionBlock) Trj_Interval (Struct) Trj_IsUnrecoverableError (Function) Trj_JerkBounds (FunctionBlock) ApplyTrajectoryLimits (Method) Eval (Method) Eval_Intern (Method) Init (Method) Reinit (Method) Trj_PlanningConfig (Struct) Trj_PlanningConfig_Init (Function) Trj_PlanningResult (Struct) Trj_PlanningResultTag (Enum) Trj_PlanningResultTag_NewTrj (Function) Trj_PlanningResultTag_Success (Function) Trj_PlanningResultTag_TargetExceeded (Function) Trj_PlanningResultTag_TargetFound (Function) Trj_PlanningResultTag_TrjFailed (Function) Trj_PlanningResult_Init (Function) Trj_SafeData (Struct) Trj_SafeData_Check (Function) Trj_SafeData_Exceeds (Function) Trj_SafeData_FromPathPosition (Function) Trj_SafeData_Set (Function) Trj_SolveIVP (Function) Trj_SolvePhaseA (Function) Trj_SolvePhaseT (Function) Trj_State (Struct) Trj_State_GetLookaheadMarker (Function) Trj_State_GetRemainingDuration (Function) Trj_State_Init (Function) Trj_State_IsInPath (Function) Trj_State_IsNewTrajectory (Function) Trj_State_IsTargetTrajectory (Function) Trj_State_Tau2_Left (Function) Trj_Statistics (FunctionBlock) OnTrajectoryFailed (Method) Trj_Stop (FunctionBlock) ComputeRoot (Method) Trj_Target (FunctionBlock) Compute (Method) Trj_TargetInterval (Struct) Trj_TargetInterval_Init (Function)
Cache ¶ GetTimeForPos (FunctionBlock) Get (Method) Init (Method) InitConst (Method) Rebase (Method) Trj_CacheElem (Struct) Trj_CacheSlot (Struct) Trj_CacheSlotState (Enum) Trj_Cache_SlotOffset (Function) Trj_Cache_Slot_In_Elem (Function) Trj_EvalCache (FunctionBlock) CutSuffixOfLastElem (Method) Eval (Method) EvalSlot (Method) FindCacheEndPos (Method) GetARefForPos (Method) GetAxesPos (Method) GetAxisStartPos (Method) GetCacheElemStepSize (Method) GetCachedEndPositionACS (Method) GetElem (Method) GetFirst (Method) GetPathPointer (Method) GetSlot (Method) Init (Method) InitI (Method) InterpolateBetweenSlots (Method) InvalidateCacheAfter (Method) NumCachedElems (Method) Reinit (Method) RemoveFirst (Method) RemoveLast (Method) Reset (Method) SetStartPos (Method) SetupCacheIter (Method) Trj_EvalCacheIter (FunctionBlock) Advance (Method) Get (Method) Init (Method) IsValid (Method) Setup (Method)
GetTimeForPos (FB) ¶ FUNCTION_BLOCK FINAL GetTimeForPos Converts from a position on the path to a time when this position is reached. The positions are expected relative to a fixed base position. Methods: Get Init InitConst Rebase Structure: Get (Method) Init (Method) InitConst (Method) Rebase (Method)
GetTimeForPos.Get (METH) ¶ METHOD FINAL Get : LREAL InOut: Scope Name Type Input x LREAL Return Get LREAL
GetTimeForPos.Rebase (METH) ¶ METHOD FINAL Rebase Creates a new pos to time converter that has a new base position. InOut: Scope Name Type Comment Inout tfp_r GetTimeForPos The rebased pos to time converter Input x_base_new LREAL The new base position, expressed relative to the current base position.
Trj_CacheElem (STRUCT) ¶ TYPE Trj_CacheElem : STRUCT An element of the path evaluation cache. The following invariants hold (L >= 0 is the length of the path element) : nNumSlots >= 2 dDeltaS > 0 If L > 0 then dDeltaS * (nNumSlots-2) < L <= dDeltaS * (nNumSlots-1) Initially, when a cache element is created for a path element, the step size dDeltaS and nNumSlots are chosen so that L = dDeltaS*(nNumSlots-1) holds (if L > 0). However, a prefix of a path element may be cut later on. Then, the method CutSuffixOfLastElem keeps dDeltaS the same and only adapts nNumSlots. After this adaptation, we most likely have the case that L < dDeltaS*(nNumSlots-1). InOut: Name Type Comment dDeltaS LREAL The step size (except for the distance before the last slot, see invariants above). Always positive. nStartSlot UDINT The index of the first slot of the element. nStartSlotOffset UDINT The offset of the first used slot relative to the nStartSlot. nNumSlots UDINT The number of slots used for this element. pathElemId PathElem_Id This member makes the link to the path element explicit. It is intended to help in debugging. dS0 LREAL The start position of the cache element relative to the segment start. segment SegmentId The segment of the cache element. l LREAL The length of the cache element (same as the length of the path element.