tcc.mov.checkSegment Namespace Reference

Functions
def	checkSegment
	Check a suggested path segment of constant jerk. More...

Variables
list	__all__ = ["checkSegment"]

Function Documentation

def tcc.mov.checkSegment.checkSegment	(		pA,
			vA,
			pB,
			vB,
			dt,
			doPos,
			doVel,
			doAccel,
			doJerk,
			axisLim
	)

Check a suggested path segment of constant jerk.

Parameters

[in]	pA	position of starting point at time t = 0
[in]	vA	velocity of starting point at time t = 0
[in]	pB	position of ending point at time t = dt
[in]	vB	velocity of ending point at time t = dt
[in]	dt	duration of motion
[in]	doPos	log test position?
[in]	doVel	log test velocity?
[in]	doAccel	log test acceleration?
[in]	doJerk	log test jerk?
[in]	axisLim	axis limits (a tcc.base.AxisLim)

Returns

errCode: one of the tcc.base.AxisErr_* constants defined in basics.h

Todo:

: make this a method of PathSegment

Error Conditions: If min and max position, max velocity, etc. cannot be computed for the path, errCode is set to tcc.base.AxisErr_CannotCompute.

If a limit would be exceeded along the path, errCode is set appropriately. Note: limits are checked in this order: minpos, maxpos, vel, accel, jerk and checking terminates at the first failure.

Warnings: Even if you request that position limits be checked, some paths will be accepted that have points outside the allowed region. See Details.

Position and velocity limits are not checked with strict accuracy, but instead the limits are padded with a small fudge factor. See Details.

Details: In handling position limits, we must allow motion from out of bounds towards being in bounds. Hence this routine allows paths with points outside the position limits in some circumstances. Specifically:

If the beginning position of the path is outside the allowed limits, AND if the extreme pos. of the path is FURTHER outside the allowed limits, ONLY :is the path considered unacceptable due to position limits.

History: 2013-12-06 ROwen Converted from mov_checkPath.for

Definition at line 8 of file checkSegment.py.

Variable Documentation

list tcc.mov.checkSegment.__all__ = ["checkSegment"]

Definition at line 6 of file checkSegment.py.