Interface to a single 1D spline function. More...

Public Member Functions
int	Calculate ()
	Calculate a 1D spline, for the settings of vStart, vEnd, aStart, aEnd, jStart and jEnd see the corresponding raw functions. The return values are OK = 0, OPTI_ERROR_NOT_LICENSED = -1, OPTI_ERROR_SPLINE_TYPE = -2, OPTI_ERROR_SPLINE_CONDITIONS = -3, OPTI_ERROR_SPLINE_SINGULAR_MATRIX1 = -4, OPTI_ERROR_SPLINE_SINGULAR_MATRIX2 = -5.
int	CalculateLinearRaw (int n, ref double[] x, ref double[] y, ref double[] v)
	Calculate a 1D linear spline from raw data, because v is not continuous the evaluated v[i] is the first derivative of the polynomial at the right side of x[i].
int	CalculateCubicSimple (int n, ref double[] x, ref double[] y, ref double[] v, ref double[] a, double vStart, double vEnd)
	Calculate a 1D cubic spline from raw data, if vStart and/or vEnd are equal to 1.0e30 or larger, the routine is signaled to set the corresponding boundary condition for a natural spline, with zero second derivative on that boundary.
int	CalculateCubicRaw (int n, ref double[] x, ref double[] y, ref double[] v, ref double[] a, double vStart, double vEnd, double aStart, double aEnd)
	Calculate a 1D cubic spline from raw data, either vStart or aStart has to be equal to 1.0e30 or larger and either vEnd or aEnd has to be equal to 1.0e30 or larger, at a time the other start/end boundary condition is valid then.
int	CalculateQuarticRaw (int n, ref double[] x, ref double[] y, ref double[] v, ref double[] a, ref double[] j, double vStart, double vEnd, double aStart, double aEnd)
	Calculate a 1D quartic spline from raw data, exactly one of the four parameters vStart, vEnd, aStart and aEnd has to be set to 1.0e30 or larger, i.e. the corresponding boundary condition is not set and the other three boundary conditions are valid.
int	CalculateQuinticRaw (int n, ref double[] x, ref double[] y, ref double[] v, ref double[] a, ref double[] j, double vStart, double vEnd, double aStart, double aEnd)
	Calculate a 1D quintic spline from raw data, all of the four parameters vStart, vEnd, aStart and aEnd have to be set.
int	CalculateSeptimicRaw (int n, ref double[] x, ref double[] y, ref double[] v, ref double[] a, ref double[] j, double vStart, double vEnd, double aStart, double aEnd, double jStart, double jEnd)
	Calculate a 1D septimic spline from raw data, all of the four parameters vStart, vEnd, aStart, aEnd, jStart and jEnd have to be set.
int	CalculateSerializedPolys ()
	Calculate the serialized polynomials in the corresponding spline.
int	CalculateFromSerializedPolys (ref ISpline1D ResultSpline1D)
	Calculate a linear smoothed spline from serialized polynomials, after setting the NumberOfSerializedPolys and defining each polynomial seperately in the SerializedPoly[] array. The corresponding linear smoothed spline then is calculated in the ResultSpline1D, if cyclic behaviour is detected the Cyclic flag is set in the resulting spline.
bool	EvaluateMinMax ()
	Evaluate the minima and maxima of the spline function and its serialized segments, i.e. sMin and sMax are calculated automatically.
bool	EvaluateExtrema ()
	Evaluate the extrema vMin, vMax, aMin, aMax, jMin and jMax values of the spline function and its serialized segments.
bool	Integrate ()
	Integrate the spline curve.
int	CreateNormPoly (int n)
	Create normalized polynomial of grade n to be defined by the user.
int	CalculatePolyRaw (int n, ref double[] x, ref int[] deriveGrade, ref double[] evalValue, ref double[] Factor)
	Calculate a 1D polynomial from raw constraints data, n is the polynomial grade, evalValue specifies the value of the derivative degree deriveGrade at point x, in Factor the n + 1 factors of the resulting polynomial are given.
int	CalculateRegPoly (int n, ref double[] Factor, ref double R_squared)
	Calculate a 1D regression polynomial of grade n regarding the spline base points, in Factor the n + 1 factors of the resulting polynomial are given and in R_squared the coefficient of determination R^2 is returned.
int	EvaluatePolyRaw (int n, ref double[] Factor, double x, ref double[] evalValue)
	Evaluate a 1D polynomial, n is the polynomial grade, in evalValue the evaluated values of the polynomial and the first three derivatives at point x are given, in Factor the n + 1 factors of the polynomial must be given.
int	CalculateNormFunction ()
	Calculate a norm function according the set MovementType.
int	EvaluateNormFunction (double x, ref double[] evalValue)
	Evaluate a previously calculated norm function according the set StartRamp and StopRamp, in evalValue the evaluated values of the norm function and the first three derivatives at point x are given.
double	CalculateEndEffectorMove ()
	Calculate the end effector movement with underlying spline movement.
int	IterateEndEffectorMove ()
	Iterate one step of the end effector movement with underlying spline movement, given X, x_endeff and v_endeff, the next values for a_endeff, v_endeff and x_endeff are calculated.

Properties
int	NumberOfPoints `[get, set]`
	Number of base points.
SplineTypes	SplineType `[get, set]`
	Spline type, i.e. when PTP the spline consists of user defined polynomial segments, when Linear of straight lines, when Cubic of 3rd order polynomials, when Quartic of 4th order polynomials, when Quintic of 5th order polynomials and when Septimic of 7th order polynomials.
double[]	baseX `[get]`
	Base point values x, for smoothing of splines at the beginning set baseX[0] as virtual start point, for smoothing at the end set baseX[NumberOfPoints + 1] as virtual end point.
double[]	baseY `[get]`
	Base point values y, for smoothing of splines at the beginning set baseY[0] as virtual start point, for smoothing at the end set baseY[NumberOfPoints + 1] as virtual end point.
double	vStart `[get, set]`
	'Velocity' of the spline function, i.e. dY/dX, at the start point
double	vEnd `[get, set]`
	'Velocity' of the spline function, i.e. dY/dX, at the end point
double	aStart `[get, set]`
	'Acceleration' of the spline function, i.e. d^2Y/dX^2, at the start point
double	aEnd `[get, set]`
	'Acceleration' of the spline function, i.e. d^2Y/dX^2, at the end point
double	jStart `[get, set]`
	'Jerk' of the spline function, i.e. d^3Y/dX^3, at the start point
double	jEnd `[get, set]`
	'Jerk' of the spline function, i.e. d^3Y/dX^3, at the end point
IPoly[]	Poly `[get]`
	Polynomials in the corresponding spline.
double[]	sMin `[get]`
	Minimum space values of the spline and its serialized segments in Y direction after applying EvaluateMinMax().
double[]	sMax `[get]`
	Maximum space values of the spline and its serialized segments in Y direction after applying EvaluateMinMax().
double[]	vMin `[get]`
	Minimum 'velocity' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	vMax `[get]`
	Maximum 'velocity' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	aMin `[get]`
	Minimum 'acceleration' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	aMax `[get]`
	Maximum 'acceleration' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	jMin `[get]`
	Minimum 'jerk' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	jMax `[get]`
	Maximum 'jerk' values of the spline and its serialized segments after applying EvaluateExtrema().
double[]	SmoothingDistance `[get]`
	Smoothing distance at each base point, if set greater than 0.0 by default with linear splines a Poly5 and with all other splines a Poly7 is used to smooth the path at this base point.
IPoly[]	SmoothingPoly `[get]`
	Smoothing polynomials in the corresponding spline.
bool	Cyclic `[get, set]`
	If set to TRUE and the SmoothingDistance of the first and the last base point is not zero then a cyclic spline is calculated.
int	NumberOfSerializedPolys `[get, set]`
	Number of serialized polynomials.
IPoly[]	SerializedPoly `[get]`
	Serialized polynomials in the corresponding spline, i.e. all polynomials including smoothing polynomials in ascending order used to export the spline.
ISpline1D	NormPoly `[get]`
	Normalized polynomial to be defined by the user.
double[]	NormPolyFactor `[get, set]`
	Factors resp. coefficients of the norm polynomial function, when DefineWithConstraints() is used they will be automatically calculated.
double	X `[get, set]`
	Defines the X value in order to evaluate the spline function.
double	pX `[get]`
	Evaluated space value of the spline function in Y direction after writing space value X.
double	vX `[get]`
	Evaluated 'velocity' value, i.e. dY/dX, of the spline function after writing space value X.
double	aX `[get]`
	Evaluated 'acceleration' value, i.e. d^2Y/dX^2 of the spline function after writing space value X.
double	jX `[get]`
	Evaluated 'jerk' value, i.e. d^3Y/dX^3 of the spline function after writing space value X.
double	Eigenfrequency `[get, set]`
	Eigenfrequency of the end effector [Hz].
double	DampingRatio `[get, set]`
	Damping ratio of the end effector, i.e. 1 / half-live time.
double	OverlayAmplitude `[get, set]`
	Harmonic overlay amplitude.
double	OverlayPhaseShift `[get, set]`
	Harmonic overlay phase shift.
bool	RelativeFriction `[get, set]`
	If set to TRUE the friction of the end effector movement is assumed to be relative to the spline movement.
double	x_endeff `[get, set]`
	Calculated end effector position with underlying spline movement.
double	v_endeff `[get, set]`
	Calculated end effector velocity with underlying spline movement.
double	a_endeff `[get, set]`
	Calculated end effector acceleration with underlying spline movement.
int	IterationStepsEndeffector `[get, set]`
	Iteration steps over the spline baseX range.
MovementTypes	MovementType `[get, set]`
	Movement type of a norm function.
double	StartRamp `[get, set]`
	Start ramp for a norm function.
double	StopRamp `[get, set]`
	Stop ramp for a norm function.
double	S_Curving_Start `[get, set]`
	Start S_Curving ramp between [0, 1].
double	S_Curving_Stopp `[get, set]`
	Stopp S_Curving ramp between [0, 1].
string	LicenseKey `[get, set]`
	To input a Developer or Developer Deploy license string, when read the hardware or software license is stated.
string	LicenseKeyStacker `[get, set]`
	To input a Stacker Developer or Stacker Developer Deploy license string, when read the hardware or software license is stated.

Detailed Description

Interface to a single 1D spline function.

Member Function Documentation

◆ Calculate()

int SiMoPoly.ISpline1D.Calculate ( )

Calculate a 1D spline, for the settings of vStart, vEnd, aStart, aEnd, jStart and jEnd see the corresponding raw functions. The return values are OK = 0, OPTI_ERROR_NOT_LICENSED = -1, OPTI_ERROR_SPLINE_TYPE = -2, OPTI_ERROR_SPLINE_CONDITIONS = -3, OPTI_ERROR_SPLINE_SINGULAR_MATRIX1 = -4, OPTI_ERROR_SPLINE_SINGULAR_MATRIX2 = -5.

◆ CalculateCubicRaw()

int SiMoPoly.ISpline1D.CalculateCubicRaw	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v,
		ref double[]	a,
		double	vStart,
		double	vEnd,
		double	aStart,
		double	aEnd )

Calculate a 1D cubic spline from raw data, either vStart or aStart has to be equal to 1.0e30 or larger and either vEnd or aEnd has to be equal to 1.0e30 or larger, at a time the other start/end boundary condition is valid then.

References aEnd, aStart, vEnd, and vStart.

◆ CalculateCubicSimple()

int SiMoPoly.ISpline1D.CalculateCubicSimple	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v,
		ref double[]	a,
		double	vStart,
		double	vEnd )

Calculate a 1D cubic spline from raw data, if vStart and/or vEnd are equal to 1.0e30 or larger, the routine is signaled to set the corresponding boundary condition for a natural spline, with zero second derivative on that boundary.

References vEnd, and vStart.

◆ CalculateEndEffectorMove()

double SiMoPoly.ISpline1D.CalculateEndEffectorMove ( )

Calculate the end effector movement with underlying spline movement.

◆ CalculateFromSerializedPolys()

int SiMoPoly.ISpline1D.CalculateFromSerializedPolys ( ref ISpline1D ResultSpline1D )

Calculate a linear smoothed spline from serialized polynomials, after setting the NumberOfSerializedPolys and defining each polynomial seperately in the SerializedPoly[] array.
The corresponding linear smoothed spline then is calculated in the ResultSpline1D, if cyclic behaviour is detected the Cyclic flag is set in the resulting spline.

◆ CalculateLinearRaw()

int SiMoPoly.ISpline1D.CalculateLinearRaw	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v )

Calculate a 1D linear spline from raw data, because v is not continuous the evaluated v[i] is the first derivative of the polynomial at the right side of x[i].

◆ CalculateNormFunction()

int SiMoPoly.ISpline1D.CalculateNormFunction ( )

Calculate a norm function according the set MovementType.

◆ CalculatePolyRaw()

int SiMoPoly.ISpline1D.CalculatePolyRaw	(	int	n,
		ref double[]	x,
		ref int[]	deriveGrade,
		ref double[]	evalValue,
		ref double[]	Factor )

Calculate a 1D polynomial from raw constraints data, n is the polynomial grade, evalValue specifies the value of the derivative degree deriveGrade at point x, in Factor the n + 1 factors of the resulting polynomial are given.

◆ CalculateQuarticRaw()

int SiMoPoly.ISpline1D.CalculateQuarticRaw	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v,
		ref double[]	a,
		ref double[]	j,
		double	vStart,
		double	vEnd,
		double	aStart,
		double	aEnd )

Calculate a 1D quartic spline from raw data, exactly one of the four parameters vStart, vEnd, aStart and aEnd has to be set to 1.0e30 or larger, i.e. the corresponding boundary condition is not set and the other three boundary conditions are valid.

References aEnd, aStart, vEnd, and vStart.

◆ CalculateQuinticRaw()

int SiMoPoly.ISpline1D.CalculateQuinticRaw	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v,
		ref double[]	a,
		ref double[]	j,
		double	vStart,
		double	vEnd,
		double	aStart,
		double	aEnd )

Calculate a 1D quintic spline from raw data, all of the four parameters vStart, vEnd, aStart and aEnd have to be set.

References aEnd, aStart, vEnd, and vStart.

◆ CalculateRegPoly()

int SiMoPoly.ISpline1D.CalculateRegPoly	(	int	n,
		ref double[]	Factor,
		ref double	R_squared )

Calculate a 1D regression polynomial of grade n regarding the spline base points, in Factor the n + 1 factors of the resulting polynomial are given and in R_squared the coefficient of determination R^2 is returned.

◆ CalculateSeptimicRaw()

int SiMoPoly.ISpline1D.CalculateSeptimicRaw	(	int	n,
		ref double[]	x,
		ref double[]	y,
		ref double[]	v,
		ref double[]	a,
		ref double[]	j,
		double	vStart,
		double	vEnd,
		double	aStart,
		double	aEnd,
		double	jStart,
		double	jEnd )

Calculate a 1D septimic spline from raw data, all of the four parameters vStart, vEnd, aStart, aEnd, jStart and jEnd have to be set.

References aEnd, aStart, jEnd, jStart, vEnd, and vStart.

◆ CalculateSerializedPolys()

int SiMoPoly.ISpline1D.CalculateSerializedPolys ( )

Calculate the serialized polynomials in the corresponding spline.

◆ CreateNormPoly()

int SiMoPoly.ISpline1D.CreateNormPoly ( int n )

Create normalized polynomial of grade n to be defined by the user.

◆ EvaluateExtrema()

bool SiMoPoly.ISpline1D.EvaluateExtrema ( )

Evaluate the extrema vMin, vMax, aMin, aMax, jMin and jMax values of the spline function and its serialized segments.

◆ EvaluateMinMax()

bool SiMoPoly.ISpline1D.EvaluateMinMax ( )

Evaluate the minima and maxima of the spline function and its serialized segments, i.e. sMin and sMax are calculated automatically.

◆ EvaluateNormFunction()

int SiMoPoly.ISpline1D.EvaluateNormFunction	(	double	x,
		ref double[]	evalValue )

Evaluate a previously calculated norm function according the set StartRamp and StopRamp, in evalValue the evaluated values of the norm function and the first three derivatives at point x are given.

◆ EvaluatePolyRaw()

int SiMoPoly.ISpline1D.EvaluatePolyRaw	(	int	n,
		ref double[]	Factor,
		double	x,
		ref double[]	evalValue )

Evaluate a 1D polynomial, n is the polynomial grade, in evalValue the evaluated values of the polynomial and the first three derivatives at point x are given, in Factor the n + 1 factors of the polynomial must be given.

◆ Integrate()

bool SiMoPoly.ISpline1D.Integrate ( )

Integrate the spline curve.

◆ IterateEndEffectorMove()

int SiMoPoly.ISpline1D.IterateEndEffectorMove ( )

Iterate one step of the end effector movement with underlying spline movement, given X, x_endeff and v_endeff, the next values for a_endeff, v_endeff and x_endeff are calculated.

Property Documentation

◆ a_endeff

double SiMoPoly.ISpline1D.a_endeff

getset

Calculated end effector acceleration with underlying spline movement.

◆ aEnd

double SiMoPoly.ISpline1D.aEnd

getset

'Acceleration' of the spline function, i.e. d^2Y/dX^2, at the end point

Default value is 0.0

Referenced by CalculateCubicRaw(), CalculateQuarticRaw(), CalculateQuinticRaw(), and CalculateSeptimicRaw().

◆ aMax

double [] SiMoPoly.ISpline1D.aMax

get

Maximum 'acceleration' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ aMin

double [] SiMoPoly.ISpline1D.aMin

get

Minimum 'acceleration' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ aStart

double SiMoPoly.ISpline1D.aStart

getset

'Acceleration' of the spline function, i.e. d^2Y/dX^2, at the start point

Default value is 0.0

Referenced by CalculateCubicRaw(), CalculateQuarticRaw(), CalculateQuinticRaw(), and CalculateSeptimicRaw().

◆ aX

double SiMoPoly.ISpline1D.aX

get

Evaluated 'acceleration' value, i.e. d^2Y/dX^2 of the spline function after writing space value X.

◆ baseX

double [] SiMoPoly.ISpline1D.baseX

get

Base point values x, for smoothing of splines at the beginning set baseX[0] as virtual start point, for smoothing at the end set baseX[NumberOfPoints + 1] as virtual end point.

◆ baseY

double [] SiMoPoly.ISpline1D.baseY

get

Base point values y, for smoothing of splines at the beginning set baseY[0] as virtual start point, for smoothing at the end set baseY[NumberOfPoints + 1] as virtual end point.

◆ Cyclic

bool SiMoPoly.ISpline1D.Cyclic

getset

If set to TRUE and the SmoothingDistance of the first and the last base point is not zero then a cyclic spline is calculated.

Default value is FALSE

◆ DampingRatio

double SiMoPoly.ISpline1D.DampingRatio

getset

Damping ratio of the end effector, i.e. 1 / half-live time.

Default value is 0.0

◆ Eigenfrequency

double SiMoPoly.ISpline1D.Eigenfrequency

getset

Eigenfrequency of the end effector [Hz].

Default value is 0.0

◆ IterationStepsEndeffector

int SiMoPoly.ISpline1D.IterationStepsEndeffector

getset

Iteration steps over the spline baseX range.

Default value is 1000

◆ jEnd

double SiMoPoly.ISpline1D.jEnd

getset

'Jerk' of the spline function, i.e. d^3Y/dX^3, at the end point

Default value is 0.0

Referenced by CalculateSeptimicRaw().

◆ jMax

double [] SiMoPoly.ISpline1D.jMax

get

Maximum 'jerk' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ jMin

double [] SiMoPoly.ISpline1D.jMin

get

Minimum 'jerk' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ jStart

double SiMoPoly.ISpline1D.jStart

getset

'Jerk' of the spline function, i.e. d^3Y/dX^3, at the start point

Default value is 0.0

Referenced by CalculateSeptimicRaw().

◆ jX

double SiMoPoly.ISpline1D.jX

get

Evaluated 'jerk' value, i.e. d^3Y/dX^3 of the spline function after writing space value X.

◆ LicenseKey

string SiMoPoly.ISpline1D.LicenseKey

getset

To input a Developer or Developer Deploy license string, when read the hardware or software license is stated.

◆ LicenseKeyStacker

string SiMoPoly.ISpline1D.LicenseKeyStacker

getset

To input a Stacker Developer or Stacker Developer Deploy license string, when read the hardware or software license is stated.

◆ MovementType

MovementTypes SiMoPoly.ISpline1D.MovementType

getset

Movement type of a norm function.

Default value is MovementTypes.ModTrapez

◆ NormPoly

ISpline1D SiMoPoly.ISpline1D.NormPoly

get

Normalized polynomial to be defined by the user.

◆ NormPolyFactor

double [] SiMoPoly.ISpline1D.NormPolyFactor

getset

Factors resp. coefficients of the norm polynomial function, when DefineWithConstraints() is used they will be automatically calculated.

◆ NumberOfPoints

int SiMoPoly.ISpline1D.NumberOfPoints

getset

Number of base points.

Default value is 2.0

◆ NumberOfSerializedPolys

int SiMoPoly.ISpline1D.NumberOfSerializedPolys

getset

Number of serialized polynomials.

◆ OverlayAmplitude

double SiMoPoly.ISpline1D.OverlayAmplitude

getset

Harmonic overlay amplitude.

Default value is 0.0

◆ OverlayPhaseShift

double SiMoPoly.ISpline1D.OverlayPhaseShift

getset

Harmonic overlay phase shift.

Default value is 0.0

◆ Poly

IPoly [] SiMoPoly.ISpline1D.Poly

get

Polynomials in the corresponding spline.

◆ pX

double SiMoPoly.ISpline1D.pX

get

Evaluated space value of the spline function in Y direction after writing space value X.

◆ RelativeFriction

bool SiMoPoly.ISpline1D.RelativeFriction

getset

If set to TRUE the friction of the end effector movement is assumed to be relative to the spline movement.

Default value is TRUE

◆ S_Curving_Start

double SiMoPoly.ISpline1D.S_Curving_Start

getset

Start S_Curving ramp between [0, 1].

Default value is 0.25

◆ S_Curving_Stopp

double SiMoPoly.ISpline1D.S_Curving_Stopp

getset

Stopp S_Curving ramp between [0, 1].

Default value is 0.25

◆ SerializedPoly

IPoly [] SiMoPoly.ISpline1D.SerializedPoly

get

Serialized polynomials in the corresponding spline, i.e. all polynomials including smoothing polynomials in ascending order used to export the spline.

◆ sMax

double [] SiMoPoly.ISpline1D.sMax

get

Maximum space values of the spline and its serialized segments in Y direction after applying EvaluateMinMax().

◆ sMin

double [] SiMoPoly.ISpline1D.sMin

get

Minimum space values of the spline and its serialized segments in Y direction after applying EvaluateMinMax().

◆ SmoothingDistance

double [] SiMoPoly.ISpline1D.SmoothingDistance

get

Smoothing distance at each base point, if set greater than 0.0 by default with linear splines a Poly5 and with all other splines a Poly7 is used to smooth the path at this base point.

Default value is 0.0

◆ SmoothingPoly

IPoly [] SiMoPoly.ISpline1D.SmoothingPoly

get

Smoothing polynomials in the corresponding spline.

◆ SplineType

SplineTypes SiMoPoly.ISpline1D.SplineType

getset

Spline type, i.e. when PTP the spline consists of user defined polynomial segments, when Linear of straight lines, when Cubic of 3rd order polynomials, when Quartic of 4th order polynomials, when Quintic of 5th order polynomials and when Septimic of 7th order polynomials.

Default value is SplineTypes.Cubic

◆ StartRamp

double SiMoPoly.ISpline1D.StartRamp

getset

Start ramp for a norm function.

Default value is 0.2

◆ StopRamp

double SiMoPoly.ISpline1D.StopRamp

getset

Stop ramp for a norm function.

Default value is 0.2

◆ v_endeff

double SiMoPoly.ISpline1D.v_endeff

getset

Calculated end effector velocity with underlying spline movement.

◆ vEnd

double SiMoPoly.ISpline1D.vEnd

getset

'Velocity' of the spline function, i.e. dY/dX, at the end point

Default value is 0.0

Referenced by CalculateCubicRaw(), CalculateCubicSimple(), CalculateQuarticRaw(), CalculateQuinticRaw(), and CalculateSeptimicRaw().

◆ vMax

double [] SiMoPoly.ISpline1D.vMax

get

Maximum 'velocity' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ vMin

double [] SiMoPoly.ISpline1D.vMin

get

Minimum 'velocity' values of the spline and its serialized segments after applying EvaluateExtrema().

◆ vStart

double SiMoPoly.ISpline1D.vStart

getset

'Velocity' of the spline function, i.e. dY/dX, at the start point

Default value is 0.0

Referenced by CalculateCubicRaw(), CalculateCubicSimple(), CalculateQuarticRaw(), CalculateQuinticRaw(), and CalculateSeptimicRaw().

◆ vX

double SiMoPoly.ISpline1D.vX

get

Evaluated 'velocity' value, i.e. dY/dX, of the spline function after writing space value X.

◆ X

double SiMoPoly.ISpline1D.X

getset

Defines the X value in order to evaluate the spline function.

◆ x_endeff

double SiMoPoly.ISpline1D.x_endeff

getset

Calculated end effector position with underlying spline movement.

Public Member Functions

Properties

Detailed Description

Member Function Documentation

◆ Calculate()

◆ CalculateCubicRaw()

◆ CalculateCubicSimple()

◆ CalculateEndEffectorMove()

◆ CalculateFromSerializedPolys()

◆ CalculateLinearRaw()

◆ CalculateNormFunction()

◆ CalculatePolyRaw()

◆ CalculateQuarticRaw()

◆ CalculateQuinticRaw()

◆ CalculateRegPoly()

◆ CalculateSeptimicRaw()

◆ CalculateSerializedPolys()

◆ CreateNormPoly()

◆ EvaluateExtrema()

◆ EvaluateMinMax()

◆ EvaluateNormFunction()

◆ EvaluatePolyRaw()

◆ Integrate()

◆ IterateEndEffectorMove()

Property Documentation

◆ a_endeff

◆ aEnd

◆ aMax

◆ aMin

◆ aStart

◆ aX

◆ baseX

◆ baseY

◆ Cyclic

◆ DampingRatio

◆ Eigenfrequency

◆ IterationStepsEndeffector

◆ jEnd

◆ jMax

◆ jMin

◆ jStart

◆ jX

◆ LicenseKey

◆ LicenseKeyStacker

◆ MovementType

◆ NormPoly

◆ NormPolyFactor

◆ NumberOfPoints

◆ NumberOfSerializedPolys

◆ OverlayAmplitude

◆ OverlayPhaseShift

◆ Poly

◆ pX

◆ RelativeFriction

◆ S_Curving_Start

◆ S_Curving_Stopp

◆ SerializedPoly

◆ sMax

◆ sMin

◆ SmoothingDistance

◆ SmoothingPoly

◆ SplineType

◆ StartRamp

◆ StopRamp

◆ v_endeff

◆ vEnd

◆ vMax

◆ vMin

◆ vStart

◆ vX

◆ X

◆ x_endeff