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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN"><html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1"><title>Copley Motion Library: LinkTrjScurve Class Reference</title><link href="doxygen.css" rel="stylesheet" type="text/css"></head><body><!-- Generated by Doxygen 1.4.4 --><div class="qindex"><a class="qindex" href="main.html">Main Page</a> | <a class="qindex" href="hierarchy.html">Class Hierarchy</a> | <a class="qindex" href="classes.html">Alphabetical List</a> | <a class="qindex" href="annotated.html">Class List</a> | <a class="qindex" href="dirs.html">Directories</a> | <a class="qindex" href="files.html">File List</a> | <a class="qindex" href="functions.html">Class Members</a> | <a class="qindex" href="globals.html">File Members</a></div><h1>LinkTrjScurve Class Reference</h1><!-- doxytag: class="LinkTrjScurve" --><!-- doxytag: inherits="LinkTrajectory" --><p>Inheritance diagram for LinkTrjScurve:<p><center><img src="classLinkTrjScurve.png" usemap="#LinkTrjScurve_map" border="0" alt=""></center><map name="LinkTrjScurve_map"><area href="classLinkTrajectory.html" alt="LinkTrajectory" shape="rect" coords="0,0,93,24"></map><a href="classLinkTrjScurve-members.html">List of all members.</a><hr><a name="_details"></a><h2>Detailed Description</h2>Multi-axis s-curve profile. <p>This extends the single axis <a class="el" href="classTrjScurve.html">TrjScurve</a> object for use in multi-axis linkage moves.<p><p>Definition at line <a class="el" href="CML__TrjScurve_8h-source.html#l00101">101</a> of file <a class="el" href="CML__TrjScurve_8h-source.html">CML_TrjScurve.h</a>.<table border="0" cellpadding="0" cellspacing="0"><tr><td></td></tr><tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrjScurve.html#a2">GetDim</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the dimension of the trajectory. <a href="#a2"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrjScurve.html#a3">StartNew</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Start a new trajectory. <a href="#a3"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrjScurve.html#a4">Finish</a> (void)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classTrajectory.html">Trajectory</a> finished. <a href="#a4"></a><br></td></tr><tr><td class="memItemLeft" nowrap align="right" valign="top">const <a class="el" href="classError.html">Error</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classLinkTrjScurve.html#a5">NextSegment</a> (<a class="el" href="CML__Utils_8h.html#a11">uunit</a> pos[], <a class="el" href="CML__Utils_8h.html#a11">uunit</a> vel[], <a class="el" href="CML__Utils_8h.html#a6">uint8</a> &time)</td></tr><tr><td class="mdescLeft"> </td><td class="mdescRight">Get the next segment of position, velocity & time info. <a href="#a5"></a><br></td></tr></table><hr><h2>Member Function Documentation</h2><a class="anchor" name="a4"></a><!-- doxytag: member="LinkTrjScurve::Finish" ref="a4" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">void Finish </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p><a class="el" href="classTrajectory.html">Trajectory</a> finished. <p>This function is called by the <a class="el" href="classLinkage.html">Linkage</a> object when it is finished with the trajectory and no longer holding a reference to it. Typically, this will happen after the <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory::NextSegment</a> function has returned a zero time value, although it can also occure when some external event causes the trajectory to be aborted. <p>Reimplemented from <a class="el" href="classLinkTrajectory.html#a1">LinkTrajectory</a>. </td> </tr></table><a class="anchor" name="a2"></a><!-- doxytag: member="LinkTrjScurve::GetDim" ref="a2" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">int GetDim </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [inline, virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Get the dimension of the trajectory. <p>The trajectory dimension gives the number of axes defined for the trajectory. This can not change from the time <a class="el" href="classLinkTrjScurve.html#a3">StartNew()</a> is called to the time <a class="el" href="classLinkTrjScurve.html#a4">Finish()</a> is called. The position and velocity arrays passed to NextSegment will be of at least this size. <dl compact><dt><b>Returns:</b></dt><dd>The dimension of the trajectory. </dd></dl><p>Implements <a class="el" href="classLinkTrajectory.html#a2">LinkTrajectory</a>.<p>Definition at line <a class="el" href="CML__TrjScurve_8h-source.html#l00111">111</a> of file <a class="el" href="CML__TrjScurve_8h-source.html">CML_TrjScurve.h</a>. </td> </tr></table><a class="anchor" name="a5"></a><!-- doxytag: member="LinkTrjScurve::NextSegment" ref="a5" args="(uunit pos[], uunit vel[], uint8 &time)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a>* NextSegment </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top"><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td> <td class="mdname" nowrap> <em>pos</em>[], </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a11">uunit</a> </td> <td class="mdname" nowrap> <em>vel</em>[], </td> </tr> <tr> <td class="md" nowrap align="right"></td> <td class="md"></td> <td class="md" nowrap><a class="el" href="CML__Utils_8h.html#a6">uint8</a> & </td> <td class="mdname" nowrap> <em>time</em></td> </tr> <tr> <td class="md"></td> <td class="md">) </td> <td class="md" colspan="2"><code> [virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Get the next segment of position, velocity & time info. <p>Note that this function will be called from the high priority CANopen receiver task. Therefore, no lengthy processing should be done here.<p><dl compact><dt><b>Parameters:</b></dt><dd> <table border="0" cellspacing="2" cellpadding="0"> <tr><td valign="top"></td><td valign="top"><em>pos</em> </td><td>An array where the position values will be returned. This array will be at least D elements long, where D is the trajectory dimension as returned by <a class="el" href="classLinkTrajectory.html#a2">LinkTrajectory::GetDim()</a></td></tr> <tr><td valign="top"></td><td valign="top"><em>vel</em> </td><td>An array where the velocity values will be returned. These values are ignored if the function <a class="el" href="classLinkTrajectory.html#a3">UseVelocityInfo()</a> returns false.</td></tr> <tr><td valign="top"></td><td valign="top"><em>time</em> </td><td>The segment time is returned here. This is in milliseconds and ranges from 1 to 255. If zero is returned, this is the last frame in the profile.</td></tr> </table></dl><dl compact><dt><b>Returns:</b></dt><dd>A pointer to an error object on failure, or NULL on success. </dd></dl><p>Implements <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory</a>. </td> </tr></table><a class="anchor" name="a3"></a><!-- doxytag: member="LinkTrjScurve::StartNew" ref="a3" args="(void)" --><p><table class="mdTable" cellpadding="2" cellspacing="0"> <tr> <td class="mdRow"> <table cellpadding="0" cellspacing="0" border="0"> <tr> <td class="md" nowrap valign="top">const <a class="el" href="classError.html">Error</a>* StartNew </td> <td class="md" valign="top">( </td> <td class="md" nowrap valign="top">void </td> <td class="mdname1" valign="top" nowrap> </td> <td class="md" valign="top"> ) </td> <td class="md" nowrap><code> [virtual]</code></td> </tr> </table> </td> </tr></table><table cellspacing="5" cellpadding="0" border="0"> <tr> <td> </td> <td><p>Start a new trajectory. <p>This function is called before the first call to <a class="el" href="classLinkTrajectory.html#a4">LinkTrajectory::NextSegment</a>. It gives the trajectory object a chance to return an error indicating that it isn't ready to be sent. <dl compact><dt><b>Returns:</b></dt><dd>An error pointer if the trajectory object is not available, or NULL if it is ready to be sent. </dd></dl><p>Reimplemented from <a class="el" href="classLinkTrajectory.html#a0">LinkTrajectory</a>. </td> </tr></table><hr>The documentation for this class was generated from the following file:<ul><li><a class="el" href="CML__TrjScurve_8h-source.html">CML_TrjScurve.h</a></ul><hr><address style="align: right;"><small>Copley Motion Library, Copyright (c) 2002-2003<a href="http://www.copleycontrols.com"><img src="CCC_logo.gif" alt="Copley Controls Corp." align="middle" border=0 ></a></small></address></body></html>⌨️ 快捷键说明
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