Trj_GetSample (FUN) ¶ FUNCTION Trj_GetSample : POINTER TO Trj_SampleI Returns the iSample-th sample in the Trajectory’s iPhase-th phase or 0 if there is iPhase-th phase or it has no iSample-th sample. InOut: Scope Name Type Inout Const trj Trajectory Input iPhase DINT iSample DINT Return Trj_GetSample POINTER TO Trj_SampleI
Trj_Init (FUN) ¶ FUNCTION Trj_Init InOut: Scope Name Type Inout tr Trajectory Input t0 LREAL
Trj_Interval_RootFound (FUN) ¶ FUNCTION Trj_Interval_RootFound : BOOL Sets the variables of the interval correctly, assuming that tr_rst is the trajectory starting from iv.w_off that is a root, that is the remaining velocity and acceleration at the end are below the tolerance. Note: we set wEnd.dv and da to exactly zero to avoid numerical problems, see RC-9029. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext iv Trj_Interval Inout Const tr_rst Trajectory Input dTau2 LREAL Return Trj_Interval_RootFound BOOL
Trj_AppendSample (FUN) ¶ FUNCTION Trj_AppendSample : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext tr Trajectory Inout Const wEnd DynState dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo Input dTCur LREAL dJerkCur LREAL Return Trj_AppendSample BOOL
Trj_AppendSuffix (FUN) ¶ FUNCTION Trj_AppendSuffix : BOOL Appends the suffix of trSrc to trDst , starting from tSampleOff in the iSample-th sample of the iPhase-th phase of trSrc . InOut: Scope Name Type Inout errCtx SMRE.ErrorContext trDst Trajectory Inout Const trSrc Trajectory wSampleStart DynState Input iPhase DINT iSample DINT tSampleOff LREAL Return Trj_AppendSuffix BOOL
Trj_JerkCacheElem (STRUCT) ¶ TYPE Trj_JerkCacheElem : STRUCT InOut: Name Type j LREAL dbgData Trj_DebugData scheduleInfo Trj_Sample_ScheduleInfo
Trj_Join (FUN) ¶ FUNCTION Trj_Join : BOOL Joins two trajectories by adding all phases to trDst. Note: tr1 or tr2 (or both) may be empty. Precondition: The number of phases in tr1 and tr2 together is at most MAX_TRAJECTORY_PHASES Returns FALSE if the resulting trajectory would be too long (too many cycles or too many phases). InOut: Scope Name Type Inout trDst Trajectory Inout Const tr1 Trajectory tr2 Trajectory Return Trj_Join BOOL
Trajectory (STRUCT) ¶ TYPE Trajectory : STRUCT Stores a trajectory, consisting of a number of consecutive phases. InOut: Name Type Comment t0 LREAL The start time of the trajectory nPhases DINT The number of phases aPhases ARRAY [0..(Cnst.MAX_TRAJECTORY_PHASES - 1)] OF Trj_Phase The phases aSamples ARRAY [0..(Cnst.MAX_TRAJECTORY_SAMPLES - 1)] OF Trj_SampleI The samples
Trj_AppendPhase (FUN) ¶ FUNCTION Trj_AppendPhase : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext tr Trajectory Inout Const wEnd DynState Input phaseType Trj_PhaseType Return Trj_AppendPhase BOOL
Trj_Assign (FUN) ¶ FUNCTION Trj_Assign InOut: Scope Name Type Inout trDst Trajectory Inout Const trSrc Trajectory