PathElem_FindByS_Right (FUN) ¶ FUNCTION PathElem_FindByS_Right : POINTER TO PathElem Similar to PathElem_FindByS , but if there are multiple path elements at ds , the rightmost one is returned. InOut: Scope Name Type Inout Const path PathQueue Input ds LREAL segment SegmentId Return PathElem_FindByS_Right POINTER TO PathElem Output k UDINT dS_end LREAL dS_start LREAL

PathElem_FindByPathPosition_Right (FUN) ¶ FUNCTION PathElem_FindByPathPosition_Right : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue pp PathPosition Return PathElem_FindByPathPosition_Right POINTER TO PathElem Output k UDINT x LREAL

PathElem_FindByS (FUN) ¶ FUNCTION PathElem_FindByS : POINTER TO PathElem Returns the path element at ds in the segment if the segment is part of the path and ds is both inside the segment and not already removed from the path . Returns 0 in all other cases. If there are multiple path elements at ds , that are all part of the segment , the leftmost element is returned. InOut: Scope Name Type Inout Const path PathQueue Input ds LREAL segment SegmentId Return PathElem_FindByS POINTER TO PathElem Output k UDINT dS_end LREAL dS_start LREAL

PathElem_Eval.EvalDerivs (METH) ¶ METHOD FINAL EvalDerivs : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout w ElemDynState Out: The position/orientation and dervatives wrt. the interpolation parameter x Given in the coordinate system of the element function. Input x LREAL t LREAL Return EvalDerivs BOOL

PathElem_Eval.EvalOri (METH) ¶ METHOD FINAL EvalOri : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun vT SM3M.SMC_Vector3D Inout q SM3M.SMC_Quat Out: the orientation, given in the coordinate system of the element function. Input x LREAL t LREAL Return EvalOri BOOL

PathElem_Eval.EvalPos (METH) ¶ METHOD FINAL EvalPos : BOOL InOut: Scope Name Type Comment Inout errCtx SMRE.ErrorContext Inout Const ef ElemFun Inout vT SM3M.SMC_Vector3D Out: the position, given in the coordinate system of the element function. 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 t LREAL bComputePsArc BOOL Return EvalPos BOOL

PathElem_FindStartOfMovement (FUN) ¶ FUNCTION PathElem_FindStartOfMovement : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue Input externalID ULINT Return PathElem_FindStartOfMovement POINTER TO PathElem Output k UDINT pp0 PathPosition

PathElem_GetLimits (FUN) ¶ FUNCTION PathElem_GetLimits : BOOL InOut: Scope Name Type Inout Const pe PathElem Inout pathLimits Path_DynLimits axisLimits DynLimitsA Input x LREAL Return PathElem_GetLimits BOOL

PathElem_FindByGeoPrimType (FUN) ¶ FUNCTION PathElem_FindByGeoPrimType : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue Input t GeoPrimType Return PathElem_FindByGeoPrimType POINTER TO PathElem Output k UDINT

PathElem_FindById (FUN) ¶ FUNCTION PathElem_FindById : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue Input id PathElem_Id Return PathElem_FindById POINTER TO PathElem Output k UDINT dS_end LREAL dS_start LREAL segment SegmentId