Trj_EvalCache.RemoveFirst (METH) ¶ METHOD FINAL RemoveFirst : BOOL InOut: Scope Name Type Return RemoveFirst BOOL
Trj_EvalCacheIter.IsValid (METH) ¶ METHOD FINAL IsValid : BOOL InOut: Scope Name Type Return IsValid BOOL
Trj_EvalCacheIter.Setup (METH) ¶ METHOD FINAL Setup InOut: Scope Name Type Inout path PathQueue cache Trj_EvalCache
Trj_EvalCache.RemoveLast (METH) ¶ METHOD FINAL RemoveLast : BOOL InOut: Scope Name Type Return RemoveLast BOOL
Trj_EvalCache.Reset (METH) ¶ METHOD FINAL Reset
Check_Trj_ApplyDynState (FUN) ¶ FUNCTION Check_Trj_ApplyDynState : BOOL InOut: Scope Name Type Inout Const uDst SMRB.DynVState uSrc SMRB.DynVState Input w DynState dJerk LREAL Return Check_Trj_ApplyDynState BOOL
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)
Trj_Iterator (FB) ¶ FUNCTION_BLOCK FINAL Trj_Iterator InOut: Scope Name Type Inout Const tr Trajectory Input bEnable BOOL Inout dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Output dTCur LREAL dJerkCur LREAL phaseType Trj_PhaseType bDone BOOL wCurEnd DynState bwCurEndValid BOOL
Trj_IteratorAdaptor (FB) ¶ FUNCTION_BLOCK FINAL Trj_IteratorAdaptor Adapts a Trj_Iterator. It will divide the samples of a minimum jerk phase following a maximum jerk phase into smaller samples of length at most Ts / 2^k, Ts / 2^(k-1), … Ts / 2^k_min. (k = maxExpMinJerk, kMin = minExpMinJerk) InOut: Scope Name Type Comment Inout Const tr Trajectory Inout iter Trj_Iterator Input dTs LREAL maxExpMinJerk UDINT The maximum exponent: for minimum jerk, the sample is initially restricted to dTs / 2^maxExpMinJerk. Must be zero or larger. minExpMinJerk UDINT The minimum exponent: for minimum jerk, the sample duration is restricted to dTs / 2^minExpMinJerk. Must be zero or larger. bEnable BOOL Inout dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Output dTCur LREAL dJerkCur LREAL phaseType Trj_PhaseType bDone BOOL wCurEnd DynState bwCurEndValid BOOL
Trj_FindSampleByDuration (FUN) ¶ FUNCTION Trj_FindSampleByDuration : BOOL Searches for the sample that is a duration of dur from the start of the trajectory. If dur is the boundary of two phases/samples, the phase/sample to the right is found. In particular if dur = Trj_Duration FALSE is returned. InOut: Scope Name Type Inout Const trj Trajectory w0 DynState Input dur LREAL Return Trj_FindSampleByDuration BOOL Output iPhase DINT iSample DINT durInSample LREAL wStart DynState phaseType Trj_PhaseType