Public Types
enum	EState { eStaVirgin = 0 , eStaEdit = 1 , eStaRaw = 2 , eStaReady = 3 , eStaRunning = 4 , eStaStopping = 5 , eStaBreaking = 6 , eStaCanceling = 7 , eStaSettling = 8 , eStaTransient = 9 , eStaPaused = 10 , eStaDone = 11 , eStaLast = 12 }
	move path states

enum	{ eCmdAttach = 256 , eCmdDetach = 257 , eCmdFirst = 258 , eCmdSetAxis , eCmdSetCurve , eCmdReset , eCmdSetMapping , eCmdGetMoveTime , eCmdGetMoveTicks , eCmdGetMoveLength , eCmdGetPositionDelta , eCmdGetMaxConstantVelocity , eCmdAddEvent , eCmdSetEventDescriptor , eCmdPrepare , eCmdStartRun , eCmdRun , eCmdPrepareAppend , eCmdAppend , eCmdBufferLow , eCmdBufferEmpty , eCmdStop , eCmdBreak , eCmdContinue , eCmdCancel , eCmdCancelData , eCmdLast }

enum	{ eParamIndexGlobalInternal = 0 , eParamIndexGlobal = 0xff , eParamIndexMask = 0x0000ffff , eParamTypeNumber = 0x00010000 , eParamTypeString = 0x00020000 }
	internal flags

enum	{ eFlgOwnerInterpolator = 0x00000001 , eFlgOwnerTrajectory = 0x00000002 , eFlgHasRapidSegments = 0x00000004 }
	internal flags

typedef std::function< uint32(CINOSMovePath *, uint32, TINOSMovePathVec &, TINOSMovePathVec &, TINOSMovePathVec &, TINOSMovePathVec &)>	tpActiveCallback
	Set callback method used for active trajectory handling. This callback is called on every sample and let's the application react accordingly if needed.

Public Member Functions
EState	GetState () const
	Get move path state.

bool	IsMoving () const

uint32	GetError () const
	Return current pending movepath error, see also INOS_MOVEPATH_ERROR_GENERAL.

virtual uint32	AcceptError ()
	Accept pending error and return its code, see also INOS_MOVEPATH_ERROR_GENERAL.

const char *	GetName () const
	Get move path name.

uint32	GetOptions () const
	Get move path options.

virtual uint32	SetAxis (const char apName, uint8 auIndex, uint32 auFlags=0x00000000, const char apType="PosAxis")
	Map given axis name to given index.

virtual uint32	AddResource (const char apName, uint8 &auIndex, uint32 auFlags=0x00000000, const char apType="PosAxis")
	Add recource with given recource name and type.

virtual uint32	EditBegin (uint32 auFlags=0x00000002, double adTolerance=-1.0, double adVelocity=-1.0)
	Enter into edit mode.

virtual uint32	EditEnd (bool abIncomplete=false)
	Exit edit mode.

virtual uint32	SegBegin (uint32 auId=0xffffffff, uint32 auFlags=0x00000000, double adTolerance=-1.0, double adVelocity=-1.0)
	Mark the begin of a movepath segment.

virtual uint32	SegEnd ()
	Exit segment mode.

virtual uint32	Start (uint8 auIndex, double adPosition)
	Set curve start position of given axis.

virtual uint32	Linear (uint8 auIndex, double adPosition, uint32 auFlags=0)
	Add a linear part to the current segment.

virtual uint32	LinearBay (uint8 auIndex1, uint8 auIndex2, double adPosition1, double adPosition2, double adLength, uint32 auFlags=0)
	Add a linear bay part to the current segment.

virtual uint32	CircleCW (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
	Add a clock wise circle part to the current segment.

virtual uint32	CircleCC (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags=0)
	Add a counter clock wise circle part to the current segment.

virtual uint32	CircleCW (uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
	Add a clock wise circle part to the current segment.

virtual uint32	CircleCC (uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags=0)
	Add a counter clock wise circle part to the current segment.

virtual uint32	CircleCW (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
	Add a clock wise circle part to the current segment.

virtual uint32	CircleCC (uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags=0)
	Add a counter clock wise circle part to the current segment.

virtual uint32	NrbBegin (uint32 auId=0xffffffff, uint32 auFlags=0x00000000, uint32 auDegree=3, uint32 auInterpolationPoints=DF_INOS_NURBSCURVE_INTERPOLATION_POINTS, double adVelocity=-1.0)
	Mark the begin of a nurbs curve segment.

virtual uint32	NrbEnd ()
	End of nurbs curve segment.

virtual uint32	NrbPoint (double adP0, double adP1, double adWeight=1.0)
	Add a control point to the nurbs curve.

virtual uint32	NrbKnot (double adValue, uint32 auMultiplicity=1)
	Add a control point to the nurbs curve.

virtual uint32	Reset ()
	Reset the path, resets curves, interpolators and trajectories does not reset parameters of the movepath.

virtual uint32	SetParam (const char *apName, double adValue)
	Set movepath parameter to given value.

virtual uint32	SetParam (uint8 auIndex, const char *apName, double adValue)
	Set axis specific movepath parameter to given value.

virtual uint32	SetParam (const char apName, const char apValue)
	Set movepath parameter to given value.

virtual uint32	SetParam (uint8 auIndex, const char apName, const char apValue)
	Set axis specific movepath parameter to given value.

virtual uint32	GetParam (const char *apName, double &adValue, double adDefault=0.0)
	Get movepath parameter.

virtual uint32	GetParam (uint8 auIndex, const char *apName, double &adValue, double adDefault=0.0)
	Get axis specific movepath parameter.

virtual uint32	GetParam (const char apName, char apBuffer, uint32 auSize, const char *apDefault="")
	Get movepath parameter.

virtual uint32	GetParam (uint8 auIndex, const char apName, char apBuffer, uint32 auSize, const char *apDefault="")
	Get axis specific movepath parameter.

virtual uint32	GetCycleTime (double &adCycleTime)
	Return the path cycle time [sec].

virtual uint32	GetCycleData (double &adMainCycleTime, uint8 &auMainAxisIndex, inos_std::vector< uint8 > &auMainCycleDownSampling, uint8 &auMainOversampling)
	Return path cycle data.

virtual uint32	GetMoveTime (double &adMoveTime, double adDelta=0.0)
	Return time [sec] the path needs until End - Delta.

virtual uint32	GetMoveTicks (uint64 &adMoveTicks, double arDelta=0.0)
	Return bus ticks the path needs until End - Delta.

virtual uint32	GetMoveLength (double &adMoveLength)
	Return the path length [path units].

virtual uint32	GetMoveRemaining (double &adMoveRemaining)
	Return the remaining path length [path units]. It can be used to ask for the actual remaining length still needs to move during a running path. At path start it returns adMoveRemaining = PathLength, at the end adMoveRemaining = 0.0.

virtual uint32	GetMaxConstantVelocity (double &adMaxConstantVelocity)
	Return the max. allowed constant velocity the path can be run with without violating any axes limits (V, A, B, J). Axis limits can be set with e.g. SetParam(aIndex, "Amax", value) for the max. allowed acceleration of axis with index 'aIndex'. Deceleration 'Bmax', Velocity 'Vmax' and Jerk 'Jmax'. If no maximum is set, the configured max. values of the corresponding ramp geni are taken.

virtual uint32	AddEvent (const char *apName, double adValue, uint32 auType)
	Return the path cycle time [sec].

virtual uint32	SetEventDescriptor (struct SINOSMovePathEventDesc *apDesc)
	Set event receiver.

virtual CMcResult	Prepare (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Precalculate the path.

virtual CMcResult	Prepare (const char apSpeedset, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Precalculate the path.

virtual CMcResult	Run (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Run the path.

virtual CMcResult	Run (const char apSpeedset, CINOSSync apSync=DF_INOS_SYNCHRONOUS)
	Run the path.

virtual uint32	Append (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Appends curves that have been edited to the path.

virtual uint32	Stop (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Stop the running path.

virtual uint32	Break (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Break the running path.

virtual uint32	Continue (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Continue paused path.

virtual CMcResult	Cancel (CINOSSync *apSync=DF_INOS_SYNCHRONOUS)
	Cancel the running path.

virtual uint32	GetData (TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
	Get actual path data.

virtual uint32	GetData (uint32 &auSegmentId, TINOSMovePathVec &vPos, TINOSMovePathVec &vVel, TINOSMovePathVec &vAcc, TINOSMovePathVec &vJrk)
	Get actual path data.

virtual CINOSMovePathSegment *	GetActSegment ()

virtual uint32	CancelData ()
	Cancel data from running path (inform trajectory generator, that we don't need data anymore.

virtual uint32	Fail (uint32 auError)
	Cancel running path with a given error.

virtual uint32	GetPositionDelta (TINOSMovePathVec &vDelta)
	Get position delta between end and start of path.

virtual bool	GetPosition (uint32 auIndex, TINOSMovePathVec &ovPos)
	get position vector at index auIndex

virtual uint32	GetTorqueLimit ()
	get torque limit

virtual double	GetEpsilon ()
	get path epsilon

virtual double	GetTolerance ()
	get path tolerance

virtual uint32	GetVmax (TINOSMovePathVec &aVmax)
	get Vmax vector

virtual uint32	GetVtrq (TINOSMovePathVec &aVtrq)
	get Vtrq vector

virtual uint32	GetAmax (TINOSMovePathVec &aAmax)
	get Amax vector

virtual uint32	GetAtrq (TINOSMovePathVec &aAtrq)
	get Atrq vector

virtual uint32	GetBmax (TINOSMovePathVec &aBmax)
	get Bmax vector

virtual uint32	GetBtrq (TINOSMovePathVec &aBtrq)
	get Btrq vector

virtual uint32	GetJmax (TINOSMovePathVec &aJmax)
	get Jmax vector

uint32	SetCurve (CINOSMovePathCurve *apCurve)
	set pointer to path curve (deprecated)

CINOSMovePathCurve *	GetCurve ()
	get pointer to maincurve

CINOSMovePathCurve *	GetEditCurve ()
	get pointer to path edit curve

CINOSMovePathCurve *	GetPrepareCurve ()
	get pointer to path prepare curve

CINOSMovePathCurve *	GetRunCurve ()
	get pointer to path run curve

CINOSMovePathTrajectory *	GetTrajectory ()
	get pointer to path trajectory

void	SetTrajectory (CINOSMovePathTrajectory *apTrajectory)
	set pointer to path trajectory

class CINOSMovePathResourceAxis *	GetAxis (uint32 auIndex)
	get pointer to axis

class CINOSMovePathResource *	GetResource (uint32 auIndex)

void	GetActPosition (TINOSMovePathVec &ovAct)
	get actual axes position vector

void	GetPositionFirst (TINOSMovePathVec &ovFirst)
	get first path position vector

void	GetPositionLast (TINOSMovePathVec &ovLast)
	get last path position vector

bool	GetBufferFillLevel (uint32 &auBufferFillLevel) const

uint32	SetMapping (class CINOSMatrix *apMapping)
	Set a virtual to physical axis mapping.

uint32	GetAxesErrorMask ()
	Get axes error mask. Returns an axis on error pattern (bit set means, the corresponding axis is on error). This method is e.g. useful to get the indices of the axes which caused an INOS_MOVEPATH_ERROR_TRJ_AXIS_ON_ERROR error.

void	SetActiveCallback (tpActiveCallback aCallback)

void	GetActual (SINOSRampData &aActual)
	Get actual path s,v,a,j.

Static Public Member Functions
static uint32	Create (CINOSMovePath *&apPath, uint32 auOptions=uint32(0x00000000))
	Create a movepath instance.

static uint32	Create (CINOSMovePath &apPath, const char apName, uint32 auOptions=uint32(0x00000000))
	Create a movepath instance with given name.

static uint32	Create (CINOSMovePath &apPath, const char apCurveType, const char apInterpolatorType, const char apTrajectoryType, uint32 auOptions=uint32(0x00000000))
	Create a movepath instance.

static uint32	Create (CINOSMovePath &apPath, const char apName, const char apCurveType, const char apInterpolatorType, const char *apTrajectoryType, uint32 auOptions=uint32(0x00000000))
	Create a movepath instance with given name.

static uint32	Create (CINOSMovePath &apPath, const char apName, const char apCurveType, const char apInterpolatorType, const char apTrajectoryType, const char apParam, uint32 auOptions=uint32(0x00000000))
	Create a movepath instance with given name.

static uint32	Destroy (CINOSMovePath *apPath)
	Destroy given movepath.

static uint32	glbSetAxis (const char *apName, uint8 auIndex, uint32 auFlags=0x00000000, uint32 auOptions=uint32(0x00000000))
	Globally map given axis name to given index.

static CINOSBaseAxis *	glbGetAxis (uint8 auIndex)
	Get pointer to globally mapped axis with given index.

static uint32	glbGetActPosition (const char *apName, double &adPosition, uint32 auOptions=uint32(0x00000000))
	Get actual commanded position of given axis.

Public Attributes
EState	m_eState
	state

uint32	m_uFlags
	flags

uint32	m_uOptions
	options

uint32	m_uError
	error

uint32	m_uActInvolved
	temporary segment involved

CINOSMutex	m_MainMutex
	the main mutex

CINOSMovePathCurve *	m_pEditCurve
	pointer to edit curve

CINOSMovePathCurve *	m_pRawCurve
	pointer to raw curve

CINOSMovePathCurve *	m_pAppendCurve
	pointer to curve to append

CINOSMovePathCurve *	m_pPrepareCurve
	pointer to prepare curve

CINOSMovePathCurve *	m_pRunCurve
	pointer to run curve

CINOSMovePathCurve *	m_pMainCurve
	pointer to main curve

CINOSMovePathTrajectory *	m_pTrajectory
	pointer to trajectory

class CINOSMovePathHelper *	m_pPrepareHelper
	pointer to prepare helper thread

class CINOSMovePathHelper *	m_pRunHelper
	pointer to run helper thread

uint32	m_uLengthMask
	axes flags

Protected Member Functions
	CINOSMovePath (const char apName, const char apCurveType, const char apInterpolatorType, const char apTrajectoryType, uint32 auOptions)
	constructor (application should use CINOSMovePath::Create)

virtual	~CINOSMovePath ()
	destructor (application should use CINOSMovePath::Destroy)

virtual uint32	iCircle (bool abCw, uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adMid1, double adMid2, uint32 auFlags)

virtual uint32	iCircleAngle (bool abCw, uint8 auIndex1, uint8 auIndex2, double adMid1, double adMid2, double adAngle, bool abAngleAbsolute, uint32 auFlags)
	internal circle angle

virtual uint32	iCircleRadius (bool abCw, uint8 auIndex1, uint8 auIndex2, double adEnd1, double adEnd2, double adRadius, uint32 auFlags)
	internal circle radius

virtual uint32	iPrepare (class CINOSTaskExMsg *apMsg)
	internal prepare

virtual uint32	iPrepare (const char *apSpeedSet)

virtual uint32	iStartRun (class CINOSTaskExMsg *apMsg)
	internal run

virtual uint32	iStartRun (const char apSpeedSet, CINOSSync apSync)

virtual uint32	iRun (class CINOSTaskExMsg *apMsg)

virtual uint32	iRun (const char apSpeedSet, CINOSSync apSync)

virtual uint32	iPrepareAppend (class CINOSTaskExMsg *apMsg)
	internal prepare append

virtual uint32	iPrepareAppend (CINOSSync *apSync)

virtual uint32	iAppend (class CINOSTaskExMsg *apMsg)
	internal append

virtual uint32	iAppend (CINOSMovePathCurve apCurve, CINOSSync apSync)

virtual uint32	iStop (class CINOSTaskExMsg *apMsg)
	internal stop

virtual uint32	iBreak (class CINOSTaskExMsg *apMsg)
	internal break

virtual uint32	iContinue (class CINOSTaskExMsg *apMsg)
	internal continue

virtual uint32	iCancel (class CINOSTaskExMsg *apMsg)
	internal cancel

virtual uint32	iCancelData (class CINOSTaskExMsg *apMsg)
	internal cancel data

virtual uint32	iSetParam (uint8 auIndex, const char *apName, double adValue)
	internal set param

virtual uint32	iSetParam (uint8 auIndex, const char apName, const char apValue)
	internal set param

virtual uint32	iGetParam (uint8 auIndex, const char apName, double adValue, double adDefault)
	internal get param

virtual uint32	iGetParam (uint8 auIndex, const char apName, char apValue, uint32 auSize, const char *apDefault)
	internal get param

CMcResult	PutMsg (CINOSTaskExMsg *apMsg)
	put message into helpers queue

CMcResult	PutCmd (uint32 auCommand, CINOSSync *apSync=DF_INOS_ASYNCHRONOUS)
	put command to queue

uint32	HandleCmd (uint32 auError=INOS_OK)
	check command queue (return auError if no command queue available)

uint32	WaitCmd (uint32 auCommand, uint32 auError=INOS_MOVEPATH_ERROR_NO_COMMAND_QUEUE)
	wait for auCommand or eCmdAbort (return auError if no command queue available)

CINOSTaskQueue *	GetCmdQueue ()
	get pointer to command queue

uint32	DispatchCmd (CINOSTaskExMsg *apCmd)
	dispatch command

uint32	AddPart (CINOSMovePathPart *apPart, uint32 auFlags)
	add part to actual segment

virtual void	SetState (EState aeState)
	set move path state

virtual void	SetError (uint32 auError)
	set move path error

class TINOSMotionFrame< DF_INOS_MOVEPATH_MAX_AXES > *	GetFrame ()
	get currently selected frame

struct SINOSMovePathEventDesc *	GetEventDescriptor ()
	get event receiver

CINCOObject *	RequestRegister ()
	return inco registration of path

void	ReleaseRegister ()
	release inco registration of path

Friends
class	CINOSMovePathHelper

class	CINOSMovePathInterpolator

class	CINOSMovePathInterpolatorBlend

class	CINOSMovePathInterpolatorClothoid

class	CINOSMovePathInterpolatorPolynom

class	CINOSMovePathTrajectory

template<typename CINOSMovePath >
class	CINOSTaskExMsgParam::CPtrContainer

class	CINOSMcTargetMovePath

class	CINOSMovePathHelperTest

void	_INI_0300_CINOSMovePath ()

Member Typedef Documentation

◆ tpActiveCallback

typedef std::function<uint32(CINOSMovePath*,uint32,TINOSMovePathVec&,TINOSMovePathVec&,TINOSMovePathVec&,TINOSMovePathVec&)> CINOSMovePath::tpActiveCallback

Set callback method used for active trajectory handling. This callback is called on every sample and let's the application react accordingly if needed.

Parameters

aCallback Method called

Member Function Documentation

◆ AddEvent()

virtual uint32 CINOSMovePath::AddEvent	(	const char *	apName,
		double	adValue,
		uint32	auType
	)

virtual

Return the path cycle time [sec].

Parameters

adCycleTime Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ AddResource()

virtual uint32 CINOSMovePath::AddResource	(	const char *	apName,
		uint8 &	auIndex,
		uint32	auFlags = `0x00000000`,
		const char *	apType = `"PosAxis"`
	)

virtual

Add recource with given recource name and type.

Parameters

[in]	apName	Name of axis to map
[in]	auIndex	Out parameter, index the axis name was be mapped to
[in]	auFlags	Resource flags, only DF_INOS_MOVEPATH_FLAG_NLG valid here
[in]	apType	Resource type

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_RESOURCE_INDEX, INOS_MOVEPATH_ERROR_ASCENDING_AXIS_INDEX, INOS_MOVEPATH_ERROR_UNKNOWN_AXIS

◆ Append()

virtual uint32 CINOSMovePath::Append ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Appends curves that have been edited to the path.

Depending on the state of the previous curves it also prepares and runs the curve.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Break()

virtual uint32 CINOSMovePath::Break ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Break the running path.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Cancel()

virtual CMcResult CINOSMovePath::Cancel ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Cancel the running path.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ CancelData()

virtual uint32 CINOSMovePath::CancelData ( )

inlinevirtual

Cancel data from running path (inform trajectory generator, that we don't need data anymore.

Returns: Returns INOS_OK in case of success or an appropriate error

◆ CircleCC() [1/3]

virtual uint32 CINOSMovePath::CircleCC	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adEnd1,
		double	adEnd2,
		double	adMid1,
		double	adMid2,
		uint32	auFlags = `0`
	)

virtual

Add a counter clock wise circle part to the current segment.

A circle part is added with the given end and middle coordinates

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adEnd1	Ending position of first axis
[in]	adEnd2	Ending position of second axis
[in]	adMid1	Circle center position of first axis
[in]	adMid1	Circle center position of second axis
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ CircleCC() [2/3]

virtual uint32 CINOSMovePath::CircleCC	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adEnd1,
		double	adEnd2,
		double	adRadius,
		uint32	auFlags = `0`
	)

virtual

Add a counter clock wise circle part to the current segment.

A circle part is added with the given end coordinates and the requested radius [deg].

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adEnd1	Ending position of first axis
[in]	adEnd2	Ending position of second axis
[in]	adRadius	Requested radius
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ CircleCC() [3/3]

virtual uint32 CINOSMovePath::CircleCC	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adMid1,
		double	adMid2,
		double	adAngle,
		bool	abAngleAbsolute,
		uint32	auFlags = `0`
	)

virtual

Add a counter clock wise circle part to the current segment.

A circle part is added with the given middle coordinates and the requested angle [deg].

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adMid1	Circle center position of first axis
[in]	adMid1	Circle center position of second axis
[in]	adAngle	Requested angle
[in]	abAngleAbsolute	True if the given angle is an absolute value
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ CircleCW() [1/3]

virtual uint32 CINOSMovePath::CircleCW	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adEnd1,
		double	adEnd2,
		double	adMid1,
		double	adMid2,
		uint32	auFlags = `0`
	)

virtual

Add a clock wise circle part to the current segment.

A circle part is added with the given end and middle coordinates

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adEnd1	Ending position of first axis
[in]	adEnd2	Ending position of second axis
[in]	adMid1	Circle center position of first axis
[in]	adMid1	Circle center position of second axis
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ CircleCW() [2/3]

virtual uint32 CINOSMovePath::CircleCW	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adEnd1,
		double	adEnd2,
		double	adRadius,
		uint32	auFlags = `0`
	)

virtual

Add a clock wise circle part to the current segment.

A circle part is added with the given end coordinates and the requested radius [deg].

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adEnd1	Ending position of first axis
[in]	adEnd2	Ending position of second axis
[in]	adRadius	Requested radius
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ CircleCW() [3/3]

virtual uint32 CINOSMovePath::CircleCW	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adMid1,
		double	adMid2,
		double	adAngle,
		bool	abAngleAbsolute,
		uint32	auFlags = `0`
	)

virtual

Add a clock wise circle part to the current segment.

A circle part is added with the given middle coordinates and the requested angle [deg].

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adMid1	Circle center position of first axis
[in]	adMid1	Circle center position of second axis
[in]	adAngle	Requested angle
[in]	abAngleAbsolute	True if the given angle is an absolute value
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ Continue()

virtual uint32 CINOSMovePath::Continue ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Continue paused path.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Create() [1/5]

static uint32 CINOSMovePath::Create	(	CINOSMovePath *&	apPath,
		const char *	apCurveType,
		const char *	apInterpolatorType,
		const char *	apTrajectoryType,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Create a movepath instance.

Creates a movepath instance with the given curve-, interpolator- and trajectory type. If no type is given, default values are taken.

Parameters

[out]	apPath	Pointer to created movepath instance
[in]	apCurveType	Required curve type, see also Curve
[in]	apInterpolatorType	Required interpolator type, see also Interpolator
[in]	apTrajectoryType	Required trajectory type, see also Trajectory
[in]	auOptions	Required movepath options, valid options are DF_INOS_MOVEPATH_OPTION_NONE, DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT, DF_INOS_MOVEPATH_OPTION_ASYNCH_SUPPORT, DF_INOS_MOVEPATH_OPTION_REGISTER_INCO

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_OPTION_INVALID, INOS_MOVEPATH_ERROR_OPTION_EXCEPTION, INOS_MOVEPATH_ERROR_OPTION_ASYNCH, INOS_MOVEPATH_ERROR_UNKNOWN_CURVE_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_INTERPOLATOR_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_TRAJECTORY_TYPE

◆ Create() [2/5]

static uint32 CINOSMovePath::Create	(	CINOSMovePath *&	apPath,
		const char *	apName,
		const char *	apCurveType,
		const char *	apInterpolatorType,
		const char *	apTrajectoryType,
		const char *	apParam,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Create a movepath instance with given name.

Creates a movepath instance with the given curve-, interpolator- and trajectory type. If no type is given, default values are taken.

Parameters

[out]	apPath	Pointer to created movepath instance
[in]	apName	Required movepath name
[in]	apCurveType	Required curve type, see also Curve
[in]	apInterpolatorType	Required interpolator type, see also Interpolator
[in]	apTrajectoryType	Required trajectory type, see also Trajectory
[in]	apParam	A JSON string containing params that need to be available right at the beginning (e.g. Helper.Priority or Helper.Core)
[in]	auOptions	Required movepath options, valid options are DF_INOS_MOVEPATH_OPTION_NONE, DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT, DF_INOS_MOVEPATH_OPTION_ASYNCH_SUPPORT, DF_INOS_MOVEPATH_OPTION_REGISTER_INCO

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_OPTION_INVALID, INOS_MOVEPATH_ERROR_OPTION_EXCEPTION, INOS_MOVEPATH_ERROR_OPTION_ASYNCH, INOS_MOVEPATH_ERROR_UNKNOWN_CURVE_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_INTERPOLATOR_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_TRAJECTORY_TYPE

◆ Create() [3/5]

static uint32 CINOSMovePath::Create	(	CINOSMovePath *&	apPath,
		const char *	apName,
		const char *	apCurveType,
		const char *	apInterpolatorType,
		const char *	apTrajectoryType,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Create a movepath instance with given name.

Creates a movepath instance with the given curve-, interpolator- and trajectory type. If no type is given, default values are taken.

Parameters

[out]	apPath	Pointer to created movepath instance
[in]	apName	Required movepath name
[in]	apCurveType	Required curve type, see also Curve
[in]	apInterpolatorType	Required interpolator type, see also Interpolator
[in]	apTrajectoryType	Required trajectory type, see also Trajectory
[in]	auOptions	Required movepath options, valid options are DF_INOS_MOVEPATH_OPTION_NONE, DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT, DF_INOS_MOVEPATH_OPTION_ASYNCH_SUPPORT, DF_INOS_MOVEPATH_OPTION_REGISTER_INCO

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_OPTION_INVALID, INOS_MOVEPATH_ERROR_OPTION_EXCEPTION, INOS_MOVEPATH_ERROR_OPTION_ASYNCH, INOS_MOVEPATH_ERROR_UNKNOWN_CURVE_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_INTERPOLATOR_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_TRAJECTORY_TYPE

◆ Create() [4/5]

static uint32 CINOSMovePath::Create	(	CINOSMovePath *&	apPath,
		const char *	apName,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Create a movepath instance with given name.

Creates a movepath instance and returns a pointer to it. Use default curve-, interpolator- and trajectory type. Default types are defined with system variables MOVEPATH.Curve (default = 'Base'), MOVEPATH.Interpolator (default = 'None') and MOVEPATH.Trajectory (default = 'Constant')

Parameters

[out]	apPath	Pointer to created movepath instance
[in]	apName	Required movepath name
[in]	auOptions	Required movepath options, valid options are DF_INOS_MOVEPATH_OPTION_NONE, DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT, DF_INOS_MOVEPATH_OPTION_ASYNCH_SUPPORT, DF_INOS_MOVEPATH_OPTION_REGISTER_INCO

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_OPTION_INVALID, INOS_MOVEPATH_ERROR_OPTION_EXCEPTION, INOS_MOVEPATH_ERROR_OPTION_ASYNCH, INOS_MOVEPATH_ERROR_UNKNOWN_CURVE_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_INTERPOLATOR_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_TRAJECTORY_TYPE

◆ Create() [5/5]

static uint32 CINOSMovePath::Create	(	CINOSMovePath *&	apPath,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Create a movepath instance.

Creates a movepath instance and returns a pointer to it. Use default curve-, interpolator- and trajectory type. Default types are defined with system variables MOVEPATH.Curve (default = 'Base'), MOVEPATH.Interpolator (default = 'None') and MOVEPATH.Trajectory (default = 'Constant')

Parameters

[out]	apPath	Pointer to created movepath instance
[in]	auOptions	Required movepath options, valid options are DF_INOS_MOVEPATH_OPTION_NONE, DF_INOS_MOVEPATH_OPTION_EXCEPTION_SUPPORT, DF_INOS_MOVEPATH_OPTION_ASYNCH_SUPPORT, DF_INOS_MOVEPATH_OPTION_REGISTER_INCO

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_OPTION_INVALID, INOS_MOVEPATH_ERROR_OPTION_EXCEPTION, INOS_MOVEPATH_ERROR_OPTION_ASYNCH, INOS_MOVEPATH_ERROR_UNKNOWN_CURVE_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_INTERPOLATOR_TYPE, INOS_MOVEPATH_ERROR_UNKNOWN_TRAJECTORY_TYPE

◆ Destroy()

static uint32 CINOSMovePath::Destroy ( CINOSMovePath * apPath )

static

Destroy given movepath.

Parameters

[in] apPath Pointer to movepath to be destroyed

Returns: Returns alwys INOS_OK even if a null pointer is given

◆ EditBegin()

virtual uint32 CINOSMovePath::EditBegin	(	uint32	auFlags = `0x00000002`,
		double	adTolerance = `-1.0`,
		double	adVelocity = `-1.0`
	)

virtual

Enter into edit mode.

Before defining the geometry of a movepath, one has to enter into edit mode. This ensures an movepath is not changed during its execution. In later versions it will be possible to live adjust the path, but currently it is not.

Parameters

[in]	auFlags	Required path flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC
[in]	adTolerance	Requested path tolerance [units]. It depends on the interpolator if this value is taken into account
[in]	adVelocity	Requested path velocity [units/sec]

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_NO_AXIS_SET, INOS_MOVEPATH_ERROR_INVALID_TOLERANCE, INOS_MOVEPATH_ERROR_INVALID_VELOCITY, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ EditEnd()

virtual uint32 CINOSMovePath::EditEnd ( bool abIncomplete = false )

virtual

Exit edit mode.

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ Fail()

virtual uint32 CINOSMovePath::Fail ( uint32 auError )

virtual

Cancel running path with a given error.

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetActual()

void CINOSMovePath::GetActual ( SINOSRampData & aActual )

inline

Get actual path s,v,a,j.

Parameters

apHandler	The handler function
apObject	The handler instance

◆ GetAxesErrorMask()

uint32 CINOSMovePath::GetAxesErrorMask ( )

Get axes error mask. Returns an axis on error pattern (bit set means, the corresponding axis is on error). This method is e.g. useful to get the indices of the axes which caused an INOS_MOVEPATH_ERROR_TRJ_AXIS_ON_ERROR error.

Returns: The requested pattern.

◆ GetBufferFillLevel()

bool CINOSMovePath::GetBufferFillLevel ( uint32 & auBufferFillLevel ) const

Parameters

auBufferFillLevel will be set to the current buffer fill level. 0 means 'empty'. The value will not be set if the function returns false. One use case may be to check whether the last buffer value has already been pulled to the axes to decide whether a followup-move may already be calculated for the axes part of the movepath.

Returns: true if apBufferFillLevel was set correctly, false otherwise (e.g. because no trajectory object is available)

◆ GetCycleData()

virtual uint32 CINOSMovePath::GetCycleData	(	double &	adMainCycleTime,
		uint8 &	auMainAxisIndex,
		inos_std::vector< uint8 > &	auMainCycleDownSampling,
		uint8 &	auMainOversampling
	)

virtual

Return path cycle data.

Parameters

adMainCycleTime	Main path cycle time [sec]
auMainAxisIndex	Index of main path axis
adMainCycleDownSampling	Array of down sampling values per axis
auMainOversampling	Oversampling of main axis (no oversampling = 1)

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetCycleTime()

virtual uint32 CINOSMovePath::GetCycleTime ( double & adCycleTime )

virtual

Return the path cycle time [sec].

Parameters

adCycleTime Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetData() [1/2]

virtual uint32 CINOSMovePath::GetData	(	TINOSMovePathVec &	vPos,
		TINOSMovePathVec &	vVel,
		TINOSMovePathVec &	vAcc,
		TINOSMovePathVec &	vJrk
	)

inlinevirtual

Get actual path data.

Use this method if you selected 'Trajectory.Buffer.Type' = 'passive' to get actual path data and Pull them to the correspinding axis. This has to be done in a hook that runs sysnchronous to the path axes

Parameters

[out]	vPos	Actual position vector
[out]	vVel	Actual velocity vector
[out]	vAcc	Actual acceleration vector
[out]	vPos	Actual Jerk vector

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetData() [2/2]

virtual uint32 CINOSMovePath::GetData	(	uint32 &	auSegmentId,
		TINOSMovePathVec &	vPos,
		TINOSMovePathVec &	vVel,
		TINOSMovePathVec &	vAcc,
		TINOSMovePathVec &	vJrk
	)

inlinevirtual

Get actual path data.

Use this method if you selected 'Trajectory.Buffer.Type' = 'passive' to get actual path data and Pull them to the correspinding axis. This has to be done in a hook that runs sysnchronous to the path axes

Parameters

[out]	auSegmentId	Actual segment id
[out]	vPos	Actual position vector
[out]	vVel	Actual velocity vector
[out]	vAcc	Actual acceleration vector
[out]	vPos	Actual Jerk vector

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetMaxConstantVelocity()

virtual uint32 CINOSMovePath::GetMaxConstantVelocity ( double & adMaxConstantVelocity )

virtual

Return the max. allowed constant velocity the path can be run with without violating any axes limits (V, A, B, J). Axis limits can be set with e.g. SetParam(aIndex, "Amax", value) for the max. allowed acceleration of axis with index 'aIndex'. Deceleration 'Bmax', Velocity 'Vmax' and Jerk 'Jmax'. If no maximum is set, the configured max. values of the corresponding ramp geni are taken.

Parameters

adMaxConstantVelocity Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveLength()

virtual uint32 CINOSMovePath::GetMoveLength ( double & adMoveLength )

virtual

Return the path length [path units].

Parameters

adMoveLength Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveRemaining()

virtual uint32 CINOSMovePath::GetMoveRemaining ( double & adMoveRemaining )

virtual

Return the remaining path length [path units]. It can be used to ask for the actual remaining length still needs to move during a running path. At path start it returns adMoveRemaining = PathLength, at the end adMoveRemaining = 0.0.

Parameters

adMoveRemaining Reference to variable where to write the result to

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveTicks()

virtual uint32 CINOSMovePath::GetMoveTicks	(	uint64 &	adMoveTicks,
		double	arDelta = `0.0`
	)

virtual

Return bus ticks the path needs until End - Delta.

Parameters

auMoveTicks	Reference to variable where to write the result to
adDelta	The requested end delta [path units].

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetMoveTime()

virtual uint32 CINOSMovePath::GetMoveTime	(	double &	adMoveTime,
		double	adDelta = `0.0`
	)

virtual

Return time [sec] the path needs until End - Delta.

Parameters

adMoveTime	Reference to variable where to write the result to
adDelta	The requested end delta [path units].

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ GetParam() [1/4]

virtual uint32 CINOSMovePath::GetParam	(	const char *	apName,
		char *	apBuffer,
		uint32	auSize,
		const char *	apDefault = `""`
	)

virtual

Get movepath parameter.

Parameters

[in]	apName	Parameter name, see also Parameter
[in]	apBuffer	Buffer where to write result to
[in]	auSize	Size [bytes] of given buffer
[in]	apDefault	Default value, used if parameter not found

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetParam() [2/4]

virtual uint32 CINOSMovePath::GetParam	(	const char *	apName,
		double &	adValue,
		double	adDefault = `0.0`
	)

virtual

Get movepath parameter.

Parameters

[in]	apName	Parameter name, see also Parameter
[out]	adValue	Paramater value
[in]	adDefault	Default value, used if parameter not found

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetParam() [3/4]

virtual uint32 CINOSMovePath::GetParam	(	uint8	auIndex,
		const char *	apName,
		char *	apBuffer,
		uint32	auSize,
		const char *	apDefault = `""`
	)

virtual

Get axis specific movepath parameter.

Parameters

[in]	auIndex	Requested axis index
[in]	apName	Parameter name, see also Parameter
[in]	apBuffer	Buffer where to write result to
[in]	auSize	Size [bytes] of given buffer
[in]	apDefault	Default value, used if parameter not found

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetParam() [4/4]

virtual uint32 CINOSMovePath::GetParam	(	uint8	auIndex,
		const char *	apName,
		double &	adValue,
		double	adDefault = `0.0`
	)

virtual

Get axis specific movepath parameter.

Parameters

[in]	auIndex	Requested axis index
[in]	apName	Parameter name, see also Parameter
[out]	adValue	Paramater value
[in]	adDefault	Default value, used if parameter not found

Returns: Returns INOS_OK in case of success or an appropriate error

◆ GetPositionDelta()

virtual uint32 CINOSMovePath::GetPositionDelta ( TINOSMovePathVec & vDelta )

virtual

Get position delta between end and start of path.

Use this method to get the position delta between the path end and the path start position

Parameters

[out] vDelta The calculated position delta

Returns: Returns INOS_OK in case of success or an appropriate error

◆ glbGetActPosition()

static uint32 CINOSMovePath::glbGetActPosition	(	const char *	apName,
		double &	adPosition,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Get actual commanded position of given axis.

Parameters

[in]	apName	Name of axis
[out]	adPosition	Requested position
[out]	auOptions	Required options for the call, only INOS_MOVEPATH_ERROR_OPTION_EXCEPTION valid here

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_UNKNOWN_AXIS

◆ glbGetAxis()

static CINOSBaseAxis * CINOSMovePath::glbGetAxis ( uint8 auIndex )

static

Get pointer to globally mapped axis with given index.

Parameters

[in] auIndex Index the axis name is to be mapped to

Returns: Returns Pointer to axis if any or nullptr

◆ glbSetAxis()

static uint32 CINOSMovePath::glbSetAxis	(	const char *	apName,
		uint8	auIndex,
		uint32	auFlags = `0x00000000`,
		uint32	auOptions = `uint32(0x00000000)`
	)

static

Globally map given axis name to given index.

Parameters

[in]	apName	Name of axis to map
[in]	auIndex	Index the axis name is to be mapped to
[in]	auFlags	Globally valid flags, only DF_INOS_MOVEPATH_FLAG_NLG valid here
[in]	auOptions	Required options for the call, only INOS_MOVEPATH_ERROR_OPTION_EXCEPTION valid here

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_UNKNOWN_AXIS

◆ IsMoving()

bool CINOSMovePath::IsMoving ( ) const

Returns: true if one or multiple axes are currently 'moving' because of this movepath. 'moving' includes things like 'stopping', 'settling', etc, but does not include things 'paused', which means that the movepath has not yet completed, but the axes are currently not moving, because the movepath execution has been paused.

◆ Linear()

virtual uint32 CINOSMovePath::Linear	(	uint8	auIndex,
		double	adPosition,
		uint32	auFlags = `0`
	)

virtual

Add a linear part to the current segment.

Parameters

[in]	auIndex	Index of requested axis
[in]	adPosition	Requested axis position
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC, DF_INOS_MOVEPATH_FLAG_NLG

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ LinearBay()

virtual uint32 CINOSMovePath::LinearBay	(	uint8	auIndex1,
		uint8	auIndex2,
		double	adPosition1,
		double	adPosition2,
		double	adLength,
		uint32	auFlags = `0`
	)

virtual

Add a linear bay part to the current segment.

Customer specific part to smoothly enter a bay with a linear and a circular axis

Parameters

[in]	auIndex1	Index of the first involved axis
[in]	auIndex2	Index of the second involved axis
[in]	adPosition1	Requested position of first axis
[in]	adPosition2	Requested position of second axis
[in]	adLength	Smoothing length
[in]	auFlags	Requested flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ NrbBegin()

virtual uint32 CINOSMovePath::NrbBegin	(	uint32	auId = `0xffffffff`,
		uint32	auFlags = `0x00000000`,
		uint32	auDegree = `3`,
		uint32	auInterpolationPoints = `DF_INOS_NURBSCURVE_INTERPOLATION_POINTS`,
		double	adVelocity = `-1.0`
	)

virtual

Mark the begin of a nurbs curve segment.

Parameters

[in]	auId	Requested segment id. This can be any value and can be used to later identify the currently running segment.
[in]	auFlags	Requested path flags (for future use)
[in]	auDegree	Requested nurbs curve degree (order - 1), usually 3
[in]	auInterpolationPoints	Requested number of interpolation points (e.g. used to calculate curve length)
[in]	adVelocity	Requested segment velocity [units/sec]

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_NO_AXIS_SET, INOS_MOVEPATH_ERROR_INVALID_VELOCITY, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ NrbEnd()

virtual uint32 CINOSMovePath::NrbEnd ( )

virtual

End of nurbs curve segment.

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ NrbKnot()

virtual uint32 CINOSMovePath::NrbKnot	(	double	adValue,
		uint32	auMultiplicity = `1`
	)

virtual

Add a control point to the nurbs curve.

Parameters

[in]	adP0	First coordinate of control point
[in]	adP1	Second coordinate of control point
[in]	adP2	Third coordinate of control point
[in]	adW	Weight of control point

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

Add a control point to the nurbs curve

Parameters

[in]	adP0	First coordinate of control point
[in]	adP1	Second coordinate of control point
[in]	adP2	Third coordinate of control point
[in]	adP3	Forth coordinate of control point
[in]	adW	Weight of control point

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

Add a control point to the nurbs curve

Parameters

[in]	adP0	First coordinate of control point
[in]	adP1	Second coordinate of control point
[in]	adP2	Third coordinate of control point
[in]	adP3	Forth coordinate of control point
[in]	adP4	Fifth coordinate of control point
[in]	adW	Weight of control point

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

Add a knot to the nurbs curve. If no knot given, the nurbs curve is setup with a uniform knot vector

Parameters

[in]	adValue	Knot value
[in]	auMultiplicity	Requested knot multiplicity

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_AXIS_INDEX_USED_TWICE, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ NrbPoint()

virtual uint32 CINOSMovePath::NrbPoint	(	double	adP0,
		double	adP1,
		double	adWeight = `1.0`
	)

virtual

Add a control point to the nurbs curve.

Parameters

[in]	adP0	First coordinate of control point
[in]	adP1	Second coordinate of control point
[in]	adW	Weight of control point

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ Prepare() [1/2]

virtual CMcResult CINOSMovePath::Prepare ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Precalculate the path.

Precalculation is useful if you have a complex path geometry, which needs time to calculate. A following Run to the path will immediately start the movements.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Prepare() [2/2]

virtual CMcResult CINOSMovePath::Prepare	(	const char *	apSpeedset,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Precalculate the path.

Precalculation is useful if you have a complex path geometry, which needs time to calculate. A following Run to the path will immediately start the movements.

Parameters

[in]	apSpeedset	Requested speedset to run the path
[in]	apSync	apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Reset()

virtual uint32 CINOSMovePath::Reset ( )

virtual

Reset the path, resets curves, interpolators and trajectories does not reset parameters of the movepath.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Run() [1/2]

virtual CMcResult CINOSMovePath::Run ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Run the path.

If you have a complex path, use Precalculate to ensure the path immediately starts at Run

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ Run() [2/2]

virtual CMcResult CINOSMovePath::Run	(	const char *	apSpeedset,
		CINOSSync *	apSync = `DF_INOS_SYNCHRONOUS`
	)

virtual

Run the path.

If you have a complex path, use Precalculate to ensure the path immediately starts at Run

Parameters

[in]	apSpeedset	apSpeedset Requested speedset to run the path
[in]	apSync	apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

◆ SegBegin()

virtual uint32 CINOSMovePath::SegBegin	(	uint32	auId = `0xffffffff`,
		uint32	auFlags = `0x00000000`,
		double	adTolerance = `-1.0`,
		double	adVelocity = `-1.0`
	)

virtual

Mark the begin of a movepath segment.

In a movepath segment, all added geometry parts are done in parallel

Parameters

[in]	auId	Requested segment id. This can be any value and can be used to later identify the currently running segment.
[in]	auFlags	Requested path flags, valid flags are DF_INOS_MOVEPATH_FLAG_ABS, DF_INOS_MOVEPATH_FLAG_INC
[in]	adTolerance	Requested segment tolerance [units]. It depends on the interpolator if this value is taken into account
[in]	adVelocity	Requested segment velocity [units/sec]

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_NO_AXIS_SET, INOS_MOVEPATH_ERROR_INVALID_TOLERANCE, INOS_MOVEPATH_ERROR_INVALID_VELOCITY, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ SegEnd()

virtual uint32 CINOSMovePath::SegEnd ( )

virtual

Exit segment mode.

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ SetAxis()

virtual uint32 CINOSMovePath::SetAxis	(	const char *	apName,
		uint8	auIndex,
		uint32	auFlags = `0x00000000`,
		const char *	apType = `"PosAxis"`
	)

virtual

Map given axis name to given index.

Parameters

[in]	apName	Name of axis to map
[in]	auIndex	Index the axis name is to be mapped to
[in]	auFlags	Axis flags, only DF_INOS_MOVEPATH_FLAG_NLG valid here
[in]	apType	Axis type, only "PosAxis" and "SpeedAxis" valid here

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_ASCENDING_AXIS_INDEX, INOS_MOVEPATH_ERROR_UNKNOWN_AXIS

◆ SetEventDescriptor()

virtual uint32 CINOSMovePath::SetEventDescriptor ( struct SINOSMovePathEventDesc * apDesc )

virtual

Set event receiver.

Parameters

apDesc Pointer to event descriptor

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ SetMapping()

uint32 CINOSMovePath::SetMapping ( class CINOSMatrix * apMapping )

Set a virtual to physical axis mapping.

Parameters

apMapping Pointer to the corresponding translation matrix or NULL if current mapping needs to be cleared

Returns: Returns INOS_OK if successful or an appropriate error code (see INOS_MOVEPATH_ERROR_xxx in inoserror.h).

◆ SetParam() [1/4]

virtual uint32 CINOSMovePath::SetParam	(	const char *	apName,
		const char *	apValue
	)

virtual

Set movepath parameter to given value.

Parameters

[in]	apName	Parameter name, see also Parameter
[in]	apValue	Requested value

Returns: Returns INOS_OK in case of success or an appropriate error

◆ SetParam() [2/4]

virtual uint32 CINOSMovePath::SetParam	(	const char *	apName,
		double	adValue
	)

virtual

Set movepath parameter to given value.

Parameters

[in]	apName	Parameter name, see also Parameter
[in]	adValue	Requested value

Returns: Returns INOS_OK in case of success or an appropriate error

◆ SetParam() [3/4]

virtual uint32 CINOSMovePath::SetParam	(	uint8	auIndex,
		const char *	apName,
		const char *	apValue
	)

virtual

Set axis specific movepath parameter to given value.

Parameters

[in]	auIndex	Requested axis index
[in]	apName	Parameter name, see also Parameter
[in]	apValue	Requested value

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX

◆ SetParam() [4/4]

virtual uint32 CINOSMovePath::SetParam	(	uint8	auIndex,
		const char *	apName,
		double	adValue
	)

virtual

Set axis specific movepath parameter to given value.

Parameters

[in]	auIndex	Requested axis index
[in]	apName	Parameter name, see also Parameter
[in]	adValue	Requested value

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX

◆ Start()

virtual uint32 CINOSMovePath::Start	(	uint8	auIndex,
		double	adPosition
	)

virtual

Set curve start position of given axis.

This method allows to set an axis starting point of a movepath and is only used if the path has absolute positions.

Parameters

[in]	auIndex	Index of requested axis
[in]	adPosition	Requested axis starting position

Returns: Returns INOS_OK in case of success or one of the following errors INOS_MOVEPATH_ERROR_INVALID_AXIS_INDEX, INOS_MOVEPATH_ERROR_COMMAND_REJECTED_WRONG_STATE

◆ Stop()

virtual uint32 CINOSMovePath::Stop ( CINOSSync * apSync = DF_INOS_SYNCHRONOUS )

virtual

Stop the running path.

Parameters

[in] apSync apSync A pointer to a sync object if used asynchronous

Returns: Returns INOS_OK in case of success or an appropriate error

The documentation for this class was generated from the following file:

/home/jenkins/workspace/inos_doxygen/os/inos/inc/cinosmovepath.h

Public Types

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Friends

Member Typedef Documentation

◆ tpActiveCallback

Member Function Documentation

◆ AddEvent()

◆ AddResource()

◆ Append()

◆ Break()

◆ Cancel()

◆ CancelData()

◆ CircleCC() [1/3]

◆ CircleCC() [2/3]

◆ CircleCC() [3/3]

◆ CircleCW() [1/3]

◆ CircleCW() [2/3]

◆ CircleCW() [3/3]

◆ Continue()

◆ Create() [1/5]

◆ Create() [2/5]

◆ Create() [3/5]

◆ Create() [4/5]

◆ Create() [5/5]

◆ Destroy()

◆ EditBegin()

◆ EditEnd()

◆ Fail()

◆ GetActual()

◆ GetAxesErrorMask()

◆ GetBufferFillLevel()

◆ GetCycleData()

◆ GetCycleTime()

◆ GetData() [1/2]

◆ GetData() [2/2]

◆ GetMaxConstantVelocity()

◆ GetMoveLength()

◆ GetMoveRemaining()

◆ GetMoveTicks()

◆ GetMoveTime()

◆ GetParam() [1/4]

◆ GetParam() [2/4]

◆ GetParam() [3/4]

◆ GetParam() [4/4]

◆ GetPositionDelta()

◆ glbGetActPosition()

◆ glbGetAxis()

◆ glbSetAxis()

◆ IsMoving()

◆ Linear()

◆ LinearBay()

◆ NrbBegin()

◆ NrbEnd()

◆ NrbKnot()

◆ NrbPoint()

◆ Prepare() [1/2]

◆ Prepare() [2/2]

◆ Reset()

◆ Run() [1/2]

◆ Run() [2/2]

◆ SegBegin()

◆ SegEnd()

◆ SetAxis()

◆ SetEventDescriptor()

◆ SetMapping()

◆ SetParam() [1/4]

◆ SetParam() [2/4]

◆ SetParam() [3/4]

◆ SetParam() [4/4]

◆ Start()

◆ Stop()