Table of Contents

IOnlineTrajectoryGenerator

Namespace
ZCore
Extends
Inherited Properties
Inherited Methods
INTERFACE IOnlineTrajectoryGenerator EXTENDS ZCore.IUnmanagedObject, ZCore.IObject, ZCore.IError

Properties

Accelerating 

PROPERTY Accelerating : BOOL

Property Value

BOOL

ConstantVelocity 

PROPERTY ConstantVelocity : BOOL

Property Value

BOOL

CurrentAcceleration 

PROPERTY CurrentAcceleration : LREAL

Property Value

LREAL

CurrentPosition 

PROPERTY CurrentPosition : LREAL

Property Value

LREAL

CurrentVelocity 

PROPERTY CurrentVelocity : LREAL

Property Value

LREAL

CycleTime 

PROPERTY CycleTime : LREAL

Property Value

LREAL

Decelerating 

PROPERTY Decelerating : BOOL

Property Value

BOOL

Methods

Initialize 

METHOD Initialize (
 [input] x : LREAL,
 [input] xd : LREAL)

This method can be used to set an initial state of the given variables.

Inputs

x LREAL

i.e. position

xd LREAL

i.e. speed

RunWithPositionInterfaceAsync 

METHOD RunWithPositionInterfaceAsync (
 [input] x : LREAL,
 [input] xd : LREAL)

Starts the calculation of a trajectory with given Initial state and Polar limits to position x and with velocity xd. The actual attainable velocity may be significantly lower than xd.

This method may be called during an active positioning command, however, due to the limitations of this implemenation, a new trajectory will only be calculated if the old trajectory is one, or in the constant-velocity segment of the trajectory. Depending on Polar limits, the later segment may not exist in the trajectory.

Inputs

x LREAL

command value

xd LREAL

command velocity (first derivative)

RunWithVelocityInterfaceAsync 

METHOD RunWithVelocityInterfaceAsync (
 [input] xd : LREAL)

Inputs

xd LREAL

SetPolarLimits 

METHOD SetPolarLimits (
 [input] xd : LREAL,
 [input] xdd : LREAL,
 [input] xddd : LREAL)

This method sets the limits for trajectory generation

Inputs

xd LREAL

i.e. speed

xdd LREAL

i.e. acceleration

xddd LREAL

i.e. jerk

StopAsync 

METHOD StopAsync ()

This method calculates a stop trajectory from the current state of the profile.