Classes
class	AxesCoord
	All axis values in one structure accompanied by some handy manipulation methods. More...

class	AxisValue
	Single position, speed or acceleration value of a specific axis. More...

struct	BufferInfo
	Structure to hold data update information. More...

class	Controller
	Pure virtual class for implementation of motion controllers. More...

struct	ParamInfo
	Structure to hold parameter information. More...

class	ParamState
	Structure to hold a single state. More...

struct	ResultInfo
	Structure to hold parameter information. More...

Typedefs
typedef void(*	NotifyProc) (void *data, IdType id)
	Function type for the function type which is called when a parameter changes as a result of changes in the interface itself.

typedef void(*	ControllerEvent) (Controller *ctrl, EControllerEvent event)
	Handler type for motion event handling.

typedef unsigned long long	IdType
	Type for gathering parameter ID's.

typedef TVector< IdType >	IdList
	Type for gathering parameter ID's.

typedef TSet< EAxisMovement >	AxisMovements
	Bitmap set of axis movements.

typedef TSet< EAxisLocation >	AxisLocations
	Bitmap set of axis locations.

Enumerations
enum	EParamFlag { pfREADONLY = 1 << 0 , pfEFFECTPARAM = 1 << 1 , pfEFFECTRESULT = 1 << 2 , pfAXIS = 1 << 3 , pfMOVE = 1 << 4 , pfMOVEPOS = 1 << 5 , pfMOVEVEL = 1 << 6 , pfEXPORT = 1 << 7 , pfSYSTEM = 1 << 8 , pfWRITEABLE = 1 << 9 , pfALIAS = 1 << 10 , pfARCHIVE = 1 << 11 , pfMOVECON = 1 << 12 }
	Parameter flags for defining parameter behaviour. More...

enum	EResultFlag { rfINDEX = 1 << 0 , rfASYNC = 1 << 1 , rfASYNCINDEX = 1 << 2 , rfHUGE = 1 << 3 }
	Result flags for defining result behaviour. More...

enum	EParam { mpNONE = 0x0000 , mpVERSION = 0x0001 , mpAXISCOUNT = 0x0002 , mpMOVEPOS = 0x0003 , mpMOVEVEL = 0x0004 , mpJOYSTICK = 0x0005 , mpTRIGGER_AXIS = 0x0006 , mpTRIGGER_DENSITY = 0x0007 , mpTRIGGER_MODE = 0x0008 , mpJOYSTICK_AXIS = 0x0009 , mpPOP_AXIS = 0x000A , mpTRIGGER_ENABLE = 0x000B , mpMOVECON = 0x000C , mpCHUCKJAW = 0x000D , mpERROR = 0x000E , mpERROR_MESSAGE = 0x000F , mpTRIGGER_FREQ = 0x0010 , mpTIMEUNIT = 0x0011 , mpLAST = 0x0200 , mpAXIS_MASK = 0x8000 , mpAXIS_NAME = 0x8001 , mpAXIS_IDX_POS = 0x8002 , mpAXIS_MODE = 0x8003 , mpAXIS_ACCURACY = 0x8004 , mpAXIS_RESOLUTION = 0x8005 , mpAXIS_MIN_POS = 0x8010 , mpAXIS_MAX_POS = 0x8011 , mpAXIS_MAX_VEL = 0x8012 , mpAXIS_MAX_ACC = 0x8013 , mpAXIS_OFS_POS = 0x8014 , mpAXIS_CUR_POS = 0x8020 , mpAXIS_CUR_VEL = 0x8021 , mpAXIS_TRG_POS = 0x8030 , mpAXIS_TRG_VEL = 0x8031 , mpAXIS_TRG_ACC = 0x8032 , mpAXIS_HOME_OFS = 0x8033 , mpAXIS_MOVEMENT = 0x8034 , mpAXIS_LAST = 0x8200 }
	Motion default parameters. List of ids which must always be implemented for each motion implementation. More...

enum	EResult { mrLAST = 0x0200 , mrAXIS_INDEX_POS = 0x8000 , mrAXIS_LAST = 0x8200 }
	Motion default results. More...

enum	EMovePosCmd { mpcCOMPLETE = 0 , mpcABORT = 1 , mpcSTOP = 2 , mpcPOSITION = 3 , mpcCURVE = 4 }
	Enumerate for controller position movement command. More...

enum	EMoveVelCmd { mvcCOMPLETE = 0 , mvcABORT = 1 , mvcSTOP = 2 , mvcON = 3 }
	Enumerate for controller velocity movement command. More...

enum	EMoveConCmd { mccCOMPLETE = 0 , mccABORT = 1 , mccSTOP = 2 , mccON = 3 }
	Enumerate for controller continuous movement command. More...

enum	EJoystickCmd { jscINHIBIT = -1 , jscOFF = 0 , jscSTOP = 1 , jscON = 2 }
	Enumerate for controller Joy movement command. More...

enum	EAxisMode { amDISABLED = 0 , amPOSITION = 1 , amVELOCITY = 2 , amHOME = 3 , amCONTINUE = 4 }
	Enumerate for controller mode of operation. More...

enum	EAxisMinMax : unsigned int { ammMIN_POS = 0 , ammMAX_POS = 1 , ammMAX_VEL = 2 , ammMAX_ACC = 3 }
	Enumerate for retrieving axis extremes. More...

enum	EChuckJaw { cjOFF = 0 , cjOPEN = 1 , cjCLOSE = 2 }

enum	EControllerEvent { ceSTATUS = 0x0000 , ceHOOKED = 0x1001 , ceUNHOOKED = 0x1002 , ceCOMPLETE = 0x2001 , cePOPEVENT = 0x3001 }
	Enumerate for controller events. More...

enum	EAxisValueType : unsigned int { avtNone = 0 , avtPosition , avtVelocity , avtAcceleration }
	List of axis coordinate types. Use a full namespace type path when specifying a Q_PROPERTY(...) More...

enum	EAxisMovement : unsigned int { amLinear = 0 , amRadial = 1 , amLimited = 2 }
	Movements an axes can make. (are used as bit locations in TAxisMovements) More...

enum	EAxisLocation : int { alNA = -1 , alX = 0 , alY , alZ , alA , alB , alC , alD , alE , alAux1 , alAux2 , alLastEntry , alFirstEntry = 0 }
	Enumeration of axis locations. More...

Functions
_GMI_FUNC std::string_view	getAxisName (int axis_loc)
	Gets the name of the given axis location.

_GMI_FUNC std::string_view	getAxisUnit (int axis_loc, EAxisValueType type)
	Gets the default axis unit.

_GMI_FUNC std::string_view	getAxisValueTypeName (EAxisValueType type)
	Gets name of the given axis value type.

_GMI_FUNC std::string_view	getMovementsUnit (const AxisMovements &ams, EAxisValueType type)
	Gets the axis unit based on the movements of the axis.

_GMI_FUNC bool	getTargetTime (double dist, double vel, double acc, double &time)
	Calculates the time needed to move over the distance.

_GMI_FUNC bool	getTargetTime (const AxesCoord &dist, const AxesCoord &max_vel, const AxesCoord &max_acc, AxesCoord &trg_time)
	Calculates the time needed to move over the distance for all axes in the AxisCoord.

_GMI_FUNC bool	getAccelerationTime (double dist, double vel, double acc, double &time)
	Calculates the time needed to move over the distance.

_GMI_FUNC bool	getAccelerationTime (const AxesCoord &dist, const AxesCoord &max_vel, const AxesCoord &max_acc, AxesCoord &trg_time)
	Calculates the time needed to move over the distance for all axes in the AxisCoord.

_GMI_FUNC bool	getTargetAccelerationTime (double dist, double vel, double acc, double &trg_time, double &acc_time)
	Calculates the time and acceleration needed to move over the distance.

_GMI_FUNC bool	getPositionVelocity (double dist, double vel, double acc, double cur_tm, double &cur_pos, double &cur_vel)
	Calculates the position and velocity at the current time from the start.

_GMI_FUNC bool	calcLinearValue (double dist, double trg_time, double acc_time, double &vel, double &acc)
	???

_GMI_FUNC bool	calcLinearValues (const AxesCoord &dist, double trg_time, double acc_time, AxesCoord &vel, AxesCoord &acc)
	???

_GMI_FUNC bool	getLinearValues (const AxesCoord &dist, const AxesCoord &max_vel, const AxesCoord &max_acc, AxesCoord &trg_vel, AxesCoord &trg_acc, double &trg_time)
	Calculates the velocity and acceleration needed to move a distance in a linear manner. Returns.

_GMI_FUNC int	compareValue (double v1, double v2, double tolerance, bool rad_unlimited)
	Compares the passed values v1 and v2. When the two values have no bigger absolute difference the maximum absolute difference passed are assumed equal. The last parameter specifies if the compared value is a radial unlimited axis.

Variables
class _GMI_CLASS	Controller
	Forward declarations of Controller.

Typedef Documentation

◆ AxisLocations

typedef TSet<EAxisLocation> sf::gmi::AxisLocations

Bitmap set of axis locations.

◆ AxisMovements

typedef TSet<EAxisMovement> sf::gmi::AxisMovements

Bitmap set of axis movements.

◆ ControllerEvent

typedef void(* sf::gmi::ControllerEvent) (Controller *ctrl, EControllerEvent event)

Handler type for motion event handling.

◆ IdList

typedef TVector<IdType> sf::gmi::IdList

Type for gathering parameter ID's.

◆ IdType

typedef unsigned long long sf::gmi::IdType

Type for gathering parameter ID's.

◆ NotifyProc

typedef void(* sf::gmi::NotifyProc) (void *data, IdType id)

Function type for the function type which is called when a parameter changes as a result of changes in the interface itself.

Enumeration Type Documentation

◆ EAxisLocation

enum sf::gmi::EAxisLocation : int

Enumeration of axis locations.

Enumerator
alNA	Not available axis.
alX	Lineair and moves in [m].
alY	Lineair and moves in [m].
alZ	Lineair and moves in [m].
alA	Angular Gimbal and moves [rad].
alB	Angular swivel and moves [rad].
alC	Angular Turntable and moves [rad and/or Hz].
alD	Tool Angular and moves [rad].
alE	Tool Lineair and moves in [m].
alAux1	Auxiliary axis 1 has no location in the constellation of axes.
alAux2	Auxiliary axis 2 has no location in the constellation of axes.
alLastEntry	Last entry used in iterations.
alFirstEntry	First axis used for iterations to alLAST_ENTRY.

◆ EAxisMinMax

enum sf::gmi::EAxisMinMax : unsigned int

Enumerate for retrieving axis extremes.

Enumerator
ammMIN_POS	Axis minimum position.
ammMAX_POS	Axis maximum position.
ammMAX_VEL	Axis maximum velocity.
ammMAX_ACC	Axis maximum acceleration.

◆ EAxisMode

enum sf::gmi::EAxisMode

Enumerate for controller mode of operation.

Enumerator
amDISABLED	Axis is cannot be moved at all.
amPOSITION	Axis is moved only to specified position.
amVELOCITY	Axis is moved with a specified velocity.
amHOME	Axis executes home sequence on position command.(is optional)
amCONTINUE	Axis is moved with a specified velocity.

◆ EAxisMovement

enum sf::gmi::EAxisMovement : unsigned int

Movements an axes can make. (are used as bit locations in TAxisMovements)

Enumerator
amLinear	Units are [m, m/s, m/s2m] and axis moves lineair.
amRadial	Units are [rad, rad/s, rad/s2] rotates and/or moves between angles.
amLimited	Movement is limited between begin and end values.

◆ EAxisValueType

enum sf::gmi::EAxisValueType : unsigned int

List of axis coordinate types. Use a full namespace type path when specifying a Q_PROPERTY(...)

Enumerator
avtNone	Axis not present.
avtPosition	Axis positional coordinate value.
avtVelocity	Axis velocity coordinate value.
avtAcceleration	Axis acceleration coordinate value.

◆ EChuckJaw

enum sf::gmi::EChuckJaw

Enumerate for ChuckJaw states.

Enumerator
cjOFF	ChuckJaw is off.
cjOPEN	ChuckJaw is open.
cjCLOSE	ChuckJaw is closed.

◆ EControllerEvent

enum sf::gmi::EControllerEvent

Enumerate for controller events.

Enumerator
ceSTATUS	Controller status changed.
ceHOOKED	Handler was hooked to the controller.
ceUNHOOKED	Handler was unhooked to the controller.
ceCOMPLETE	Complete event on an axis group. Not implemented yet.
cePOPEVENT	POP axis has made a rotation.

◆ EJoystickCmd

enum sf::gmi::EJoystickCmd

Enumerate for controller Joy movement command.

Enumerator
jscINHIBIT	Inhibits the joystick control.
jscOFF	Status report of movement stop.
jscSTOP	Stops movement, and waits for off.
jscON	Joystick active.

◆ EMoveConCmd

enum sf::gmi::EMoveConCmd

Enumerate for controller continuous movement command.

Enumerator
mccCOMPLETE	No movement.
mccABORT	Abort current movement abrupt.
mccSTOP	Stop with target deceleration value.
mccON	Moving with target velocity.

◆ EMovePosCmd

enum sf::gmi::EMovePosCmd

Enumerate for controller position movement command.

Enumerator
mpcCOMPLETE	Stop current movement smooth.
mpcABORT	Abort current movement abrupt.
mpcSTOP	Stop current movement smooth.
mpcPOSITION	Move in position mode using targeting position,.
mpcCURVE	Move along the downloaded curve.

◆ EMoveVelCmd

enum sf::gmi::EMoveVelCmd

Enumerate for controller velocity movement command.

Enumerator
mvcCOMPLETE	No movement.
mvcABORT	Abort current movement abrupt.
mvcSTOP	Stop with target deceleration value.
mvcON	Moving with target velocity.

◆ EParam

enum sf::gmi::EParam

Motion default parameters. List of ids which must always be implemented for each motion implementation.

Enumerator
mpNONE	Used to indicate no parameter. Interface parameters from here.
mpVERSION	Version information of software and hardware drivers and implementation.
mpAXISCOUNT	Amount of implemented axes. The states carry the axes names.
mpMOVEPOS	Starts a movement using the current target velocity position or loaded curve. See enum EMovePos.
mpMOVEVEL	Starts a movement using the target velocity for axis in the velocity mode group.
mpJOYSTICK	Controls the access to the joystick. Inhibit=-1 (Only when Off), Off=0, Stop=1 or On=2.
mpTRIGGER_AXIS	Sets the axis which pulses are used to derive the trigger pulses. Values are as EAxisLoc.
mpTRIGGER_DENSITY	Density of measurements in radians or meters depending on selected axis.
mpTRIGGER_MODE	Trigger mode 'true' is intern 'false' is extern.
mpJOYSTICK_AXIS	Joystick axis selection. Values are as EAxisLoc.
mpPOP_AXIS	Position orientation event source selection. Values are as EAxisLoc.
mpTRIGGER_ENABLE	Enable output of trigger, true is enable.
mpMOVECON	Starts a movement using the target velocity for axis in the continuous mode group.
mpCHUCKJAW	Controls chuck-jaw Off=0, Open=1 and Close=2.
mpERROR	Reports error and is used to clear it if possible. No error=0, Warning=1, Soft Error=2, Hard Error=3. Hard errors need restart (of system/application)
mpERROR_MESSAGE	Error message from above error code.
mpTRIGGER_FREQ	Trigger frequency in Hz.
mpTIMEUNIT	Time unit in Seconds.
mpLAST	Free number from here. Axis parameters from here.
mpAXIS_MASK	Mask to detect gated parameter.
mpAXIS_NAME	Name of this axis.
mpAXIS_IDX_POS	Multiplication factor for the index positions.
mpAXIS_MODE	Mode of the axis (Disabled, Position, Velocity, Home, Contineous)
mpAXIS_ACCURACY	Accuracy of the axis for velocity and position. (readonly)
mpAXIS_RESOLUTION	Resolution of the axis for velocity and position. (readonly)
mpAXIS_MIN_POS	Minimum position of the axis.
mpAXIS_MAX_POS	Maximum position of the axis.
mpAXIS_MAX_VEL	Maximum velocity of the axis.
mpAXIS_MAX_ACC	Maximum acceleration of the axis.
mpAXIS_OFS_POS	offset to position of Axis.
mpAXIS_CUR_POS	Current position of the axis.
mpAXIS_CUR_VEL	Current velocity of the axis.
mpAXIS_TRG_POS	Target position of the axis.
mpAXIS_TRG_VEL	Target velocity of the axis.
mpAXIS_TRG_ACC	Target acceleration of the axis.
mpAXIS_HOME_OFS	Defines position after homing of the axis.
mpAXIS_MOVEMENT	Defines Movement of axis ( linear=0, radial=1, radial_limited=2) .
mpAXIS_LAST	Free axis parameters numbers from here.

◆ EParamFlag

enum sf::gmi::EParamFlag

Parameter flags for defining parameter behaviour.

Enumerator
pfREADONLY	Parameter cannot be changed at all times.
pfEFFECTPARAM	Parameter effects other parameters.
pfEFFECTRESULT	Parameter effects results.
pfAXIS	Parameter is axis specific.
pfMOVE	Parameter cannot be changed when moving in any mode.
pfMOVEPOS	Parameter cannot be changed when moving in position mode.
pfMOVEVEL	Parameter cannot be changed when moving in velocity mode.
pfEXPORT	Parameter is exported globally.
pfSYSTEM	Parameter is a system setting.
pfWRITEABLE	Parameter is always writeable in any mode.
pfALIAS	Alias of another parameter in a different form.
pfARCHIVE	Parameter can be stored for restoring settings.
pfMOVECON	Parameter cannot be changed when moving in continuous mode.

◆ EResult

enum sf::gmi::EResult

Motion default results.

Enumerator
mrLAST	Free number from here.
mrAXIS_INDEX_POS	Positions of the axis at each index or.
mrAXIS_LAST	Free axis parameters numbers from here.

◆ EResultFlag

enum sf::gmi::EResultFlag

Result flags for defining result behaviour.

Enumerator
rfINDEX	Result contains synced i/o input.
rfASYNC	Result data is not sync synchrone.
rfASYNCINDEX	Result keeps track of sync counter values at the time async data was generated.
rfHUGE	Result that generates a huge amount of data.

Function Documentation

◆ calcLinearValue()

_GMI_FUNC bool sf::gmi::calcLinearValue	(	double	dist,
		double	trg_time,
		double	acc_time,
		double &	vel,
		double &	acc
	)

???

Parameters

dist	distance to travel for each axis.
trg_time	Time in which to reach the target
acc_time	Time in which to accelerate.
vel	Velocity needed to move the distance in time.
acc	Acceleration needed to reach the previous velocity.

Returns: True on success to calculate.

◆ calcLinearValues()

_GMI_FUNC bool sf::gmi::calcLinearValues	(	const AxesCoord &	dist,
		double	trg_time,
		double	acc_time,
		AxesCoord &	vel,
		AxesCoord &	acc
	)

???

Parameters

dist	Distance to travel for each axis.
trg_time	Time in which to reach the target
acc_time	Time in which to accelerate.
vel	Velocity needed to move the distance in time.
acc	Acceleration needed to reach the previous velocity.

Returns: True when calculations are successful.

◆ compareValue()

_GMI_FUNC int sf::gmi::compareValue	(	double	v1,
		double	v2,
		double	tolerance,
		bool	rad_unlimited
	)

Compares the passed values v1 and v2. When the two values have no bigger absolute difference the maximum absolute difference passed are assumed equal. The last parameter specifies if the compared value is a radial unlimited axis.

Parameters

v1
v2
tolerance
rad_unlimited

Returns: If v1 < v2 the return value is <0 and for v1 > v2 it is >0.

◆ getAccelerationTime() [1/2]

_GMI_FUNC bool sf::gmi::getAccelerationTime	(	const AxesCoord &	dist,
		const AxesCoord &	max_vel,
		const AxesCoord &	max_acc,
		AxesCoord &	trg_time
	)

Calculates the time needed to move over the distance for all axes in the AxisCoord.

Parameters

dist	distance to travel.
max_vel	Maximum velocity.
max_acc	Maximum acceleration.
trg_time	Returned acceleration time.

Returns: True on success to calculate.

◆ getAccelerationTime() [2/2]

_GMI_FUNC bool sf::gmi::getAccelerationTime	(	double	dist,
		double	vel,
		double	acc,
		double &	time
	)

Calculates the time needed to move over the distance.

Parameters

dist	distance to travel.
vel	Maximum velocity.
acc	Maximum acceleration.
time	Returned target time.

Returns: True on success to calculate.

◆ getAxisName()

_GMI_FUNC std::string_view sf::gmi::getAxisName ( int axis_loc )

Gets the name of the given axis location.

◆ getAxisUnit()

_GMI_FUNC std::string_view sf::gmi::getAxisUnit	(	int	axis_loc,
		EAxisValueType	type
	)

Gets the default axis unit.

Parameters

axis_loc	Axis location.
type	Axis type of value.

Returns: unit

◆ getAxisValueTypeName()

_GMI_FUNC std::string_view sf::gmi::getAxisValueTypeName ( EAxisValueType type )

Gets name of the given axis value type.

Returns: Position, Velocity, Acceleration

◆ getLinearValues()

_GMI_FUNC bool sf::gmi::getLinearValues	(	const AxesCoord &	dist,
		const AxesCoord &	max_vel,
		const AxesCoord &	max_acc,
		AxesCoord &	trg_vel,
		AxesCoord &	trg_acc,
		double &	trg_time
	)

Calculates the velocity and acceleration needed to move a distance in a linear manner. Returns.

Parameters

dist	Distance to travel.
max_vel	Maximum velocity.
max_acc	Maximum acceleration.
trg_vel	Target velocity.
trg_acc	Target acceleration.
trg_time	Time needed to reach target.

Returns: True when the function was able to make the calculation.

◆ getMovementsUnit()

_GMI_FUNC std::string_view sf::gmi::getMovementsUnit	(	const AxisMovements &	ams,
		EAxisValueType	type
	)

Gets the axis unit based on the movements of the axis.

Parameters

ams
type

Returns: Axis units based on the movements of the axis.

◆ getPositionVelocity()

_GMI_FUNC bool sf::gmi::getPositionVelocity	(	double	dist,
		double	vel,
		double	acc,
		double	cur_tm,
		double &	cur_pos,
		double &	cur_vel
	)

Calculates the position and velocity at the current time from the start.

Parameters

dist	distance to travel.
vel	Maximum velocity.
acc	Maximum acceleration.
cur_tm	Current time.
cur_pos	Current position.
cur_vel	Current velocity.

Returns: True on success to calculate.

◆ getTargetAccelerationTime()

_GMI_FUNC bool sf::gmi::getTargetAccelerationTime	(	double	dist,
		double	vel,
		double	acc,
		double &	trg_time,
		double &	acc_time
	)

Calculates the time and acceleration needed to move over the distance.

Parameters

dist	distance to travel.
vel	Maximum velocity.
acc	Maximum acceleration.
trg_time	Target time.
acc_time	Acceleration time.

Returns: True on success to calculate.

◆ getTargetTime() [1/2]

_GMI_FUNC bool sf::gmi::getTargetTime	(	const AxesCoord &	dist,
		const AxesCoord &	max_vel,
		const AxesCoord &	max_acc,
		AxesCoord &	trg_time
	)

Calculates the time needed to move over the distance for all axes in the AxisCoord.

Parameters

dist	distance to travel.
max_vel	Maximum velocity.
max_acc	Maximum acceleration.
trg_time	Returned target time.

Returns: True on success to calculate.

◆ getTargetTime() [2/2]

_GMI_FUNC bool sf::gmi::getTargetTime	(	double	dist,
		double	vel,
		double	acc,
		double &	time
	)

Calculates the time needed to move over the distance.

Parameters

dist	distance to travel.
vel	Maximum velocity.
acc	Maximum acceleration.
time	Returned target time.

Returns: True on success to calculate.

Variable Documentation

◆ Controller

class _GMI_CLASS sf::gmi::Controller

Forward declarations of Controller.

Classes

Typedefs

Enumerations

Functions

Variables

Typedef Documentation

◆ AxisLocations

◆ AxisMovements

◆ ControllerEvent

◆ IdList

◆ IdType

◆ NotifyProc

Enumeration Type Documentation

◆ EAxisLocation

◆ EAxisMinMax

◆ EAxisMode

◆ EAxisMovement

◆ EAxisValueType

◆ EChuckJaw

◆ EControllerEvent

◆ EJoystickCmd

◆ EMoveConCmd

◆ EMovePosCmd

◆ EMoveVelCmd

◆ EParam

◆ EParamFlag

◆ EResult

◆ EResultFlag

Function Documentation

◆ calcLinearValue()

◆ calcLinearValues()

◆ compareValue()

◆ getAccelerationTime() [1/2]

◆ getAccelerationTime() [2/2]

◆ getAxisName()

◆ getAxisUnit()

◆ getAxisValueTypeName()

◆ getLinearValues()

◆ getMovementsUnit()

◆ getPositionVelocity()

◆ getTargetAccelerationTime()

◆ getTargetTime() [1/2]

◆ getTargetTime() [2/2]

Variable Documentation

◆ Controller