Trj_EvalCacheIter (FB) ¶ FUNCTION_BLOCK FINAL Trj_EvalCacheIter Allows to iterate all cache slots between to given positions s0 <= s1 on the path. The first return value is the value at s0. Then, all slot values in the interval ]s0, s1[ are returned. Finally, the value at s1 is returned. Note: Currently, Get() must be called before Advance() for correct operation. InOut: Scope Name Type Output dS LREAL Methods: Advance Get Init IsValid Setup Structure: Advance (Method) Get (Method) Init (Method) IsValid (Method) Setup (Method)
Trj_EvalCache.InitI (METH) ¶ METHOD InitI : BOOL Internal initialization for test purposes (initialization from serialized data). InOut: Scope Name Type Return InitI BOOL Input dTs LREAL onEndOfElem IEndOfElemObserver pElems POINTER TO Trj_CacheElem nElems UDINT pSlots POINTER TO Trj_CacheSlot nSlots UDINT dS0 LREAL x_rel_start LREAL
Trj_EvalCache.InterpolateBetweenSlots (METH) ¶ METHOD FINAL InterpolateBetweenSlots InOut: Scope Name Type Inout Const slotA Trj_CacheSlot slotB Trj_CacheSlot Input x LREAL Inout uq SMRB.DynV2State md SMDYN.ManipulatorDynStateT psArc ParamState
Trj_EvalCache.InvalidateCacheAfter (METH) ¶ METHOD FINAL InvalidateCacheAfter : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Input dS LREAL segment UDINT Return InvalidateCacheAfter BOOL
Trj_EvalCache.NumCachedElems (METH) ¶ METHOD FINAL NumCachedElems : UDINT InOut: Scope Name Type Return NumCachedElems UDINT
Trj_EvalCache.GetFirst (METH) ¶ METHOD FINAL GetFirst : POINTER TO Trj_CacheElem InOut: Scope Name Type Return GetFirst POINTER TO Trj_CacheElem
Trj_EvalCache.GetPathPointer (METH) ¶ METHOD GetPathPointer : POINTER TO PathQueue InOut: Scope Name Type Return GetPathPointer POINTER TO PathQueue
Trj_EvalCache.GetSlot (METH) ¶ METHOD FINAL GetSlot : POINTER TO Trj_CacheSlot InOut: Scope Name Type Inout Const ce Trj_CacheElem Input nSlot UDINT Return GetSlot POINTER TO Trj_CacheSlot
Trj_EvalCache.Init (METH) ¶ METHOD FINAL Init InOut: Scope Name Type Input dTs LREAL onEndOfElem IEndOfElemObserver
Trj_EvalCache.Reinit (METH) ¶ METHOD FINAL Reinit InOut: Scope Name Type Inout path PathQueue plTime PlannerTime