ElemFun_ContainsVariablePositionTrans (FB) ¶ FUNCTION_BLOCK FINAL ElemFun_ContainsVariablePositionTrans Methods: Check Structure: Check (Method)
ElemFun_ECSIsDynEqTrans (FB) ¶ FUNCTION_BLOCK FINAL ElemFun_ECSIsDynEqTrans Methods: Check Structure: Check (Method)
ElemFun_IsAtOrigStart (FUN) ¶ FUNCTION ElemFun_IsAtOrigStart : BOOL InOut: Scope Name Type Inout Const ef ElemFun Input x LREAL Return ElemFun_IsAtOrigStart BOOL
ElemFun_IsAxisSpaceFun (FUN) ¶ FUNCTION ElemFun_IsAxisSpaceFun : BOOL InOut: Scope Name Type Inout Const ef ElemFun Return ElemFun_IsAxisSpaceFun BOOL
DynLimits_LimitRatio (FUN) ¶ FUNCTION DynLimits_LimitRatio : BOOL Limits the ratio between the maximum velocity and maximum acceleration, as well as between the maximum acceleration and maximum jerk. The path planner of the CP kernel assumes that the path velocity and acceleration don’t change significantly during a single planning interval. This assumption is violated if the planning interval is very long, or if the allowed jerk and acceleration are very high compared to the maximum velocity. (E.g., the maximum velocity could be reached in a single planning interval from standstill.) This function limits the maximum acceleration, such that it takes at least Globals.limitsMaxIntervals planning intervals to reach the maximum velocity. And it limits the maximum jerk such that it takes at least Globals.limitsMaxIntervals planning intervals to reach the maxmimum acceleration. Together, this means that the maximum velocity that can be reached from standstill in dTs is 1/limitsMaxIntervals^2 * vmax. See SM-1428 InOut: Scope Name Type Comment Return DynLimits_LimitRatio BOOL Inout dl SMRB.DynLimits Input dTs LREAL The planning interval, must be positive
DynV3State_ApplyParamState (FUN) ¶ FUNCTION DynV3State_ApplyParamState Assuming uDst(x) = uSrc(sigma(x)), and given ps = (sigma(x), sigma’(x), sigma’’(x)), computes the first two derivatives of uDst(x) according to the chain rule. InOut: Scope Name Type Inout uDst SM3M.SMC_DynV3State Inout Const uSrc SM3M.SMC_DynV3State ps ParamState Input bCompute3rdDeriv BOOL
DynFactorsA_Serialize (FUN) ¶ FUNCTION DynFactorsA_Serialize : BOOL InOut: Scope Name Type Return DynFactorsA_Serialize BOOL Input stream SM0.IOutStream Inout Const dfa DynFactorsA
DynLimitsA_LimitRatio (FUN) ¶ FUNCTION DynLimitsA_LimitRatio : BOOL Limits the ratio between the maximum velocity and maximum acceleration, as well as between the maximum acceleration and maximum jerk. The path planner of the CP kernel assumes that the path velocity and acceleration don’t change significantly during a single planning interval. This assumption is violated if the planning interval is very long, or if the allowed jerk and acceleration are very high compared to the maximum velocity. (E.g., the maximum velocity could be reached in a single planning interval from standstill.) This function limits the maximum acceleration, such that it takes at least sqrt(2) planning intervals to reach the maximum velocity. And it limits the maximum jerk such that it takes at least sqrt(2) planning intervals to reach the maxmimum acceleration. Together, this means that the maximum velocity that can be reached from standstill is 1/4 * vmax. See SM-1428 InOut: Scope Name Type Comment Return DynLimitsA_LimitRatio BOOL Inout dla DynLimitsA Input dTs LREAL The planning interval, must be positive
ComputeBisector (FUN) ¶ FUNCTION ComputeBisector : BOOL Computes the perpendicular bisector of two 2D-points. Returns TRUE on success, FALSE if p1 and p2 are too close or not 2D. InOut: Scope Name Type Return ComputeBisector BOOL Inout l Line Inout Const p1 SM3M.SMC_VECTOR3D p2 SM3M.SMC_VECTOR3D
ComputeTrajectoryLimits (FUN) ¶ FUNCTION ComputeTrajectoryLimits : ETrajectoryLimit InOut: Scope Name Type Inout Const path PathQueue wCur DynState Input segment SegmentId Return ComputeTrajectoryLimits ETrajectoryLimit Output pPeCur POINTER TO PathElem pPeEnd POINTER TO PathElem pPePause POINTER TO PathElem dSEndSegment LREAL dSEndEffective LREAL k_left UDINT k_right UDINT dS_start_left LREAL dS_start_right LREAL
