ElemFunPose_SwitchECSToBusTask (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToBusTask Switches the coordinate system of the pose to the bustask. Any ElemFun the pose references is not affected. InOut: Scope Name Type Inout pose ElemFunPose

ElemFunQueue.Append (METH) ¶ METHOD FINAL Append : BOOL Appends an element function to a queue of element functions. Composite elements are copied transitively, and the internal pointers are updated to the copies in the queue. The queue must have enough room for ElemFun_NumElems(pElemFun^) elements. InOut: Scope Name Type Inout Const ef ElemFun Input switchCSToBusTask BOOL Return Append BOOL

ElemFunQueue.Capacity (METH) ¶ METHOD FINAL Capacity : UDINT The maximum number of elements that can be stored in the queue InOut: Scope Name Type Return Capacity UDINT

ElemFunPose_SwitchECSToBusTaskTrans (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToBusTaskTrans : BOOL Switches the coordinate system of the pose and all referenced ElemFuns to the bustask. InOut: Scope Name Type Inout pose ElemFunPose Return ElemFunPose_SwitchECSToBusTaskTrans BOOL

ElemFunPose_SwitchECSToPlanning (FUN) ¶ FUNCTION ElemFunPose_SwitchECSToPlanning Switches the coordinate system of the pose to the planner task. Any ElemFun the pose references is not affected. InOut: Scope Name Type Inout pose ElemFunPose

ElemFunPose_IsConstant (FUN) ¶ FUNCTION ElemFunPose_IsConstant : BOOL Returns whether a pose is constant, i.e. can be expressed as a frame in some coordinate system. A constant pose is also static, if this coordinate system static. InOut: Scope Name Type Inout Const pose ElemFunPose Return ElemFunPose_IsConstant BOOL

ElemFunPose_IsStatic (FUN) ¶ FUNCTION ElemFunPose_IsStatic : BOOL Returns whether a pose is static, i.e. can be expressed as a constant axes position. A static pose is also constant (in all static coordinate systems). InOut: Scope Name Type Inout Const pose ElemFunPose Return ElemFunPose_IsStatic BOOL

ElemFunPose_VariableToConstant (FUN) ¶ FUNCTION ElemFunPose_VariableToConstant : BOOL Converts a variable pose to a constant pose one by evaluating at the current time. InOut: Scope Name Type Inout poseConst ElemFunPose Inout Const poseVariable ElemFunPose Return ElemFunPose_VariableToConstant BOOL

PathElem_PoseEval (FB) ¶ FUNCTION_BLOCK FINAL PathElem_PoseEval Methods: EvalAt Structure: EvalAt (Method)

ElemFunPose_InitStatic (FUN) ¶ FUNCTION ElemFunPose_InitStatic InOut: Scope Name Type Inout pose ElemFunPose Inout Const f SM3M.SMC_Frame a TRAFO.AXISPOS_REF cs ElemFun_CS fToolOffset SM3M.SMC_Frame