SMC_TG_Ramp_ValidDynRange (FUN)

FUNCTION SMC_TG_Ramp_ValidDynRange : BOOL

Given an initial state of motion dynOrigin, the maximal and minimal position, velocity and acceleration are being returned that can be reached within fInterval w.r.t. the limits inside lim. One can choose, if lim.fVMax shall be taken into account or not (bRespectsMaxVel). The calculation is being done by a quadratic or a trapezoid ramp, depending on the input bRespectsMaxJerk.

needed at least for testing purposes (and probably in SMC_MotionKernel_PTP.FollowPCS, too)

InOut:

Scope	Name	Type
Return	SMC_TG_Ramp_ValidDynRange	BOOL
Inout	dynMax	SMC_TG_DynState
Inout	dynMin	SMC_TG_DynState
Inout Const	dynOrigin	SMC_TG_DynState
Inout Const	lim	SMC_Q_LIMITS
Input	fInterval	LREAL
	bRespectMaxVel	BOOL
	bRespectMaxJerk	BOOL