TYPE SMC_SEGMENT : STRUCT
This structure is used internally by the SMC_Interpolator . It represents a path segment of fixed length in which a certain acceleration shape is used.
InOut:
|
Name |
Type |
Comment |
|
eType |
ACC, CONST, DEC, M |
|
|
dLength |
LREAL |
Object length |
|
dTime |
LREAL |
Needed time for interpolation |
|
dVelStart |
LREAL |
Velocity at the beginning of the segment |
|
dVelEnd |
LREAL |
Velocity at the end of the segment |
|
iStartObj |
INT |
Position of the start object in the queue |
|
dPosInStartObj |
LREAL |
Beginning of segment relative to the start point of the start object |
|
iDestObj |
INT |
Position of the last object in the queue |
|
dPosInDestObj |
LREAL |
End of segment relative to the start point of the destination object |
|
dAccStart |
LREAL |
Start acceleration (signed) |
|
dAccEnd |
LREAL |
End acceleration (signed) |
|
dJerk |
LREAL |
Jerk (signed), only used for changing acceleration |
