Path_MakeConsistent (FUN) ¶ FUNCTION Path_MakeConsistent Updates the elements of the `` path’’ to make it consistent, i.e. gives each element and each segment a unique ID and ensures that IDs are increasing. InOut: Scope Name Type Inout Const path PathQueue Input kLastValid UDINT

Path_NextSegment (FUN) ¶ FUNCTION Path_NextSegment : SegmentId InOut: Scope Name Type Inout Const path PathQueue Input curSegment SegmentId Return Path_NextSegment SegmentId Output pElemNext POINTER TO PathElem

Path_FindPausePosition (FUN) ¶ FUNCTION Path_FindPausePosition : BOOL InOut: Scope Name Type Inout Const path PathQueue Input k UDINT dS_start LREAL Return Path_FindPausePosition BOOL Output dS LREAL pPe POINTER TO PathElem

Path_GetLastElem (FUN) ¶ FUNCTION Path_GetLastElem : POINTER TO PathElem Returns the last PathElem that is not the end of the path, if there is any. Otherwise, the end of path PathElem or 0 is returned. InOut: Scope Name Type Inout Const path PathQueue Return Path_GetLastElem POINTER TO PathElem

Path_DynLimitsAsym_Intersect (FUN) ¶ FUNCTION Path_DynLimitsAsym_Intersect InOut: Scope Name Type Inout l Path_DynLimitsAsym Inout Const l0 Path_DynLimitsAsym l1 Path_DynLimitsAsym

Path_DynLimitsAsym_Project (FUN) ¶ FUNCTION Path_DynLimitsAsym_Project Given a composite function h(x) = g(f(x)) and limits for h, calculates equivalent limits for f. InOut: Scope Name Type Inout fLimits Path_DynLimitsAsym Inout Const hLimits Path_DynLimitsAsym g ParamState f ParamState

Path_DynLimitsAsym_ProjectJerkEndOfCycle (FUN) ¶ FUNCTION Path_DynLimitsAsym_ProjectJerkEndOfCycle InOut: Scope Name Type Inout Const hLimits Path_DynLimitsAsym g ParamState f ParamState Input dX LREAL Output fJerkMax LREAL fJerkMin LREAL

Path_DynLimitsAsym_Zero (FUN) ¶ FUNCTION Path_DynLimitsAsym_Zero InOut: Scope Name Type Inout l Path_DynLimitsAsym

Path_SetPausePosition (FUN) ¶ FUNCTION Path_SetPausePosition : BOOL InOut: Scope Name Type Inout Const path PathQueue pp PathPosition Return Path_SetPausePosition BOOL

Path_StartOfSegment (FUN) ¶ FUNCTION Path_StartOfSegment : POINTER TO PathElem InOut: Scope Name Type Inout Const path PathQueue Input segment SegmentId Return Path_StartOfSegment POINTER TO PathElem Output k UDINT dS0 LREAL