PathElem_EstimatePathLimits (FUN) ¶ FUNCTION PathElem_EstimatePathLimits : BOOL Estimates the path limits, considering both the given cartesian limits (addData.dynLimitsPathCommanded) and the axis limits (addData.dynLimitsAxesCommanded). Note: requires that addData.derivStepSize has already been computed. InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext dynLimitsPath_est Path_DynLimits The estimated cartesian path limits. dynLimitsIpoParam_est Path_DynLimits The estimated limits of the interpolation parameter. Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Return PathElem_EstimatePathLimits BOOL
PathElem_EstimateStepSize (FUN) ¶ FUNCTION PathElem_EstimateStepSize : BOOL Estimates a good value for the step size for numerical differentiation. The step size is used by |EvalAxisDerivs| . We start with a large step size and reduce it until the difference between the numerical derivatives increases. InOut: Scope Name Type Inout errCtx SMRE.ErrorContext Inout Const pe PathElem aRef TRAFO.AXISPOS_REF Return PathElem_EstimateStepSize BOOL Output h LREAL
EvalAxisDerivs_Helper (FUN) ¶ FUNCTION EvalAxisDerivs_Helper : 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 The time parameter (used for tracking) bComputePsArc BOOL Whether the psArc should be computed bApplyARef BOOL Return EvalAxisDerivs_Helper BOOL
EvalAxisDerivs_h (FUN) ¶ FUNCTION EvalAxisDerivs_h : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun aRef TRAFO.AXISPOS_REF Inout uq SMRB.DynVState 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) h LREAL The step size for numerical derivation bComputePsArc BOOL Whether the psArc should be computed bPosValid BOOL Whether uq.v has already been computed bApplyARef BOOL Return EvalAxisDerivs_h BOOL
ManipulatorDynStateT_Lint (FUN) ¶ FUNCTION ManipulatorDynStateT_Lint InOut: Scope Name Type Inout mdDst SMDYN.ManipulatorDynStateT Inout Const mdLhs SMDYN.ManipulatorDynStateT mdRhs SMDYN.ManipulatorDynStateT Input lambda LREAL
ManipulatorDynState_ApplyDynState (FUN) ¶ FUNCTION ManipulatorDynState_ApplyDynState InOut: Scope Name Type Inout torque ARRAY [0..(SM3M.SMC_MAX_VEC_DIM - 1)] OF LREAL Inout Const md SMDYN.ManipulatorDynState w DynState
MinLen (FUN) ¶ FUNCTION MinLen : LREAL Returns the minimum length of a path element with the given cycle interval. InOut: Scope Name Type Inout Const pe PathElem Input dTs LREAL Return MinLen LREAL
FillCache (FUN) ¶ FUNCTION FillCache : BOOL InOut: Scope Name Type Inout errCtx SMRE.ErrorContext cache Trj_EvalCache Input x LREAL segment SegmentId t LREAL Return FillCache BOOL
HandleRotaryAxes (FUN) ¶ FUNCTION HandleRotaryAxes InOut: Scope Name Type Inout v SM3M.SMC_Vec Inout Const vRef SM3M.SMC_Vec aInfos AxisInfos
ManipulatorDynStateT_ApplyDynState (FUN) ¶ FUNCTION ManipulatorDynStateT_ApplyDynState InOut: Scope Name Type Inout torque SM3M.SMC_Vec Inout Const md SMDYN.ManipulatorDynStateT w DynState