Intersection ¶ ElemFun_IntersectWithPlane (Function) ElemFun_IntersectWithSphere (Function)

ElemFun_IntersectWithPlane (FUN) ¶ FUNCTION ElemFun_IntersectWithPlane : LREAL Computes an intersection between an element function and a plane. Supports only lines and arcs. For all other elements (PTP movements, Wait, Blending, …), an error is returned. Returns the interpolation parameter x for which the element intersects the plane. InOut: Scope Name Type Comment Inout Const ef ElemFun vN SM3M.SMC_VECTOR3D The normal vector of the plane, given in the ECS of ef. Must be a unit vector. Input d LREAL The distance of the plane eMode EIntersectMode Return ElemFun_IntersectWithPlane LREAL Output bError BOOL bNoIntersectionFound BOOL

ElemFun_EvalsToConstPose (FUN) ¶ FUNCTION ElemFun_EvalsToConstPose : BOOL Returns whether the position x inside the ElemFun ef evaluates to a constant pose in any coordinate system. InOut: Scope Name Type Inout Const ef ElemFun Input x LREAL Return ElemFun_EvalsToConstPose BOOL

ElemFun_EvalsToStaticPose (FUN) ¶ FUNCTION ElemFun_EvalsToStaticPose : BOOL Returns whether the position x inside the ElemFun ef evaluates to a static pose. Note: FALSE is returned for blendings between different CS with at least one being dynamic even though the start- or end position of the element might be a static pose. InOut: Scope Name Type Inout Const ef ElemFun Input x LREAL Return ElemFun_EvalsToStaticPose BOOL

ElemFun_HasTooHighDerivatives (FUN) ¶ FUNCTION ElemFun_HasTooHighDerivatives : BOOL InOut: Scope Name Type Inout Const ef ElemFun dynLimitsPathCommanded_est Path_DynLimits dynLimitsIpoParamCommanded_est Path_DynLimits dynLimitsAxesCommanded DynLimitsA Input dMinFractionOfVMax LREAL dMinCurvatureRadius LREAL bConsiderThirdDeriv BOOL Return ElemFun_HasTooHighDerivatives BOOL

ElemFun_IsAtOrigEnd (FUN) ¶ FUNCTION ElemFun_IsAtOrigEnd : BOOL InOut: Scope Name Type Inout Const ef ElemFun Input x LREAL Return ElemFun_IsAtOrigEnd BOOL

ElemFun_MovementInfo_PosToMvtRelPos (FUN) ¶ FUNCTION ElemFun_MovementInfo_PosToMvtRelPos : LREAL InOut: Scope Name Type Inout Const mvtInfo ElemFun_MovementInfo Input x LREAL curExternalID ULINT lElem LREAL Return ElemFun_MovementInfo_PosToMvtRelPos LREAL Output externalID ULINT

ElemFun_MovementInfo_RemovePrefix (FUN) ¶ FUNCTION ElemFun_MovementInfo_RemovePrefix InOut: Scope Name Type Inout mvtInfo ElemFun_MovementInfo Input lElem LREAL xCutPoint LREAL

ElemFun_CSStartDestDynEq (FUN) ¶ FUNCTION ElemFun_CSStartDestDynEq : BOOL InOut: Scope Name Type Inout Const ef ElemFun Return ElemFun_CSStartDestDynEq BOOL

ElemFun_ContainsVariablePosition (FUN) ¶ FUNCTION ElemFun_ContainsVariablePosition : BOOL Returns whether this ElemFun contains a variable position, i.e. if it or any non-blending child ElemFun evaluates another ElemFun during evaluation. InOut: Scope Name Type Inout Const ef ElemFun Return ElemFun_ContainsVariablePosition BOOL