Structure with additional configuration parameters for the elliptic spline which can be calculated with FB_EllipticSpline.CalcSplineExtended(…) as well as feedback data of a successful calculation.
|
Variable |
Data type |
Description |
|---|---|---|
|
|
DINT |
Number of spline points to force a vertical distance at the start position. This is only effective in combination with an obstacle at the start position. Default value: 1 Value range: diStartNumberOfVerticalPoints >= 0 |
|
|
DINT |
Number of spline points to force a vertical distance at the target position. This is only effective in combination with an obstacle at the target position. Default value: 1 Value range: diTargetNumberOfVerticalPoints >= 0 |
|
xUserApex |
BOOL |
The automatic calculation of the apex for a constant curvature is deactivated and lrApexScalingFactor is used for the calculation of the apex. Default value: FALSE |
|
lrApexScalingFactor |
LREAL |
Parameter for shifting the apex in the direction of the start position (negative value) or target position (positive value). From this value, a percentage value is calculated. This works on the half branch of the spline, see examples in the chapter Behavior of Method FB_EllipticSpline.CalcSplineExtended. For lrApexScalingFactor = 0, the apex is located centrally between start position and target position. Default value: 0.0 Value range: |lrApexScalingFactor| <= 1.0 |
|
lrApexSmoothZone |
LREAL |
The spline points which are located within this zone around the apex are removed in favor of a softer path course. Default value: 0.0 Value range: lrApexSmoothZone >= 0.0 |
|
lrStartObstacleDistance |
LREAL |
Horizontal distance of an obstacle from the start position. Default value: 0.0 Value range: lrStartObstacleDistance >= 0.0 |
|
lrStartObstacleHeight |
LREAL |
Height of the obstacle regarding the start position. The parameter is automatically set to 0 if lrApexScalingFactor = -1.0 and xUserApex = TRUE. Default value: 0.0 Value range: lrStartObstacleHeight >= 0.0 |
|
lrStartObstacleWidth |
LREAL |
Width of the obstacle regarding the start position. Default value: 0.0 Value range: lrStartObstacleWidth >= 0.0 |
|
lrTargetObstacleDistance |
LREAL |
Horizontal distance of an obstacle from the target position. Default value: 0.0 Value range: lrTargetObstacleDistance >= 0.0 |
|
lrTargetObstacleHeight |
LREAL |
Height of the obstacle regarding the target position. The parameter is automatically set to 0 if lrApexScalingFactor = 1.0 and xUserApex = TRUE. Default value: 0.0 Value range: lrTargetObstacleHeight >= 0.0 |
|
lrTargetObstacleWidth |
LREAL |
Width of obstacle regarding the target position. Default value: 0.0 Value range: lrTargetObstacleWidth >= 0.0 |
|
diStartSmoothPoints |
DINT |
Number of points which are removed at the start position in favor of a smoother path run. This is only effective in combination with an obstacle at the start position. Default value: 0 Value range: diStartSmoothPoints >= 0 |
|
diTargetSmoothPoints |
DINT |
Number of points which are removed at the target position in favor of a smoother path run. This is only effective in combination with an obstacle at the target position. Default value: 0 Value range: diTargetSmoothPoints >= 0 |
|
lrStartMinVerticalDistance |
LREAL |
Minimum vertical distance at the start position if lrStartObstacleHeight is greater than 0. The value is limited to the value of lrStartObstacleHeight. This is only effective in combination with an obstacle at the start position. Default value: 0.0 Value range: lrStartMinVerticalDistance >= 0 |
|
lrTargetMinVerticalDistance |
LREAL |
Minimum vertical distance to the target position if lrTargetObstacleHeight is greater than 0. The value is limited to the value of lrTargetObstacleHeight. This is only effective in combination with an obstacle at the target position. Default value: 0.0 Value range: lrTargetMinVerticalDistance >= 0 |
|
lrStartVerticalPointsDistance |
LREAL |
Distance between the spline points for the vertical distance at the start position. Reduces the specified number of spline points defined by diStartNumberOfVerticalPoints, if necessary. Default value: 0.0 Value range: lrStartVerticalPointsDistance >= 0.0 |
|
lrTargetVerticalicalPointsDistance |
LREAL |
Distance between the spline points for the vertical distance at the target position. Reduces the specified number of spline points defined by diTargetNumberOfVerticalPoints, if necessary Default value: 0.0 Value range: lrTargetVerticalPointsDistance >= 0.0 |
|
xEquidistantSplinePoints |
BOOL |
FALSE: Spline points are set closer in areas with a tight curve than in areas with a shallow curve. TRUE: Spline points are set in equidistant intervals. Default value: FALSE |