Trj_AssignOffT (FUN) ¶ FUNCTION Trj_AssignOffT : BOOL Assigns a trajectory while omitting a prefix of the positive duration tOff . InOut: Scope Name Type Inout errCtx SMRE.ErrorContext trDst Trajectory Inout Const trSrc Trajectory wSrc0 DynState Input tOff LREAL dTs LREAL Return Trj_AssignOffT BOOL
Trj_CanJoinTrajectories (FUN) ¶ FUNCTION Trj_CanJoinTrajectories : BOOL InOut: Scope Name Type Inout Const tr1 Trajectory tr2 Trajectory Return Trj_CanJoinTrajectories BOOL
Trj_Duration (FUN) ¶ FUNCTION Trj_Duration : LREAL InOut: Scope Name Type Return Trj_Duration LREAL Inout Const tr Trajectory
ElemFun_ProjectAxisLimitsToPath (FUN) ¶ FUNCTION ElemFun_ProjectAxisLimitsToPath : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext dynLimitsIpoParam Path_DynLimits Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF dynLimitsAxes DynLimitsA Input x LREAL Return ElemFun_ProjectAxisLimitsToPath BOOL Output s_x LREAL The derivative of the arc-length reparametrization at x.
EvalAxes (FUN) ¶ FUNCTION EvalAxes : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout v SM3M.SMC_Vec psArc ParamState Out: The value and derivatives of the parameter transformation from the interpolation parameter x to the arc length s. For axis space movements, the members are zero. Input x LREAL The value of the interpolation parameter t LREAL bCheckPosLimits BOOL bComputePsArc BOOL bApplyARef BOOL Return EvalAxes BOOL
EvalAxes2_Impl (FB) ¶ FUNCTION_BLOCK FINAL EvalAxes2_Impl InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef PathElemAxisPos Inout a TRAFO.AXISPOS_REF Input Enable BOOL x LREAL The value of the interpolation parameter stepSize LREAL Non-negative evaluation step size Output Busy BOOL Done BOOL Error BOOL
EvalAxes_Ori (FUN) ¶ FUNCTION EvalAxes_Ori : BOOL Evaluates the orientation axes. For elements with ef.tOr = OriPrimType.Axis or OriPrimType.OriAxisBlending, this will be much more efficient than calling EvalAxes(). For all other element types, EvalAxes will be called. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout vOri SM3M.SMC_Vec The axis values of the orientation axes Input x LREAL The value of the interpolation parameter t LREAL kinCoupled TRAFO.ISMCoupledKinematics Return EvalAxes_Ori BOOL
EvalAxisDerivsS (FUN) ¶ FUNCTION EvalAxisDerivsS : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout uq SMRB.DynVState Out: The values and derivatives (wrt. the interpolation parameter x) of all axes. psArc ParamState Out: The value and derivatives of the parameter transformation from the interpolation parameter x to the arc length s. For axis space movements, the members are zero (except for AxisBlending: an estimate of the parameter transformation from x to arc length s is returned) Input x LREAL The interpolation parameter: where to evaluate t LREAL bCheckPosLimits BOOL bApplyARef BOOL Return EvalAxisDerivsS BOOL
EvalAxisDerivsST (FUN) ¶ FUNCTION EvalAxisDerivsST : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout uq SMRB.DynV2State Out: The values and derivatives (wrt. the interpolation parameter x) of all axes. psArc ParamState Out: The value and derivatives of the parameter transformation from the interpolation parameter x to the arc length s. For axis space movements, the members are zero (except for AxisBlending: an estimate of the parameter transformation from x to arc length s is returned) Input x LREAL The interpolation parameter: where to evaluate t LREAL The time parameter (used for tracking) bCheckPosLimits BOOL Return EvalAxisDerivsST BOOL
DiffGrid4 (STRUCT) ¶ TYPE DiffGrid4 : STRUCT InOut: Name Type aI ARRAY [0..4] OF LREAL aII ARRAY [0..4] OF LREAL aIII ARRAY [0..4] OF LREAL