Function to create the MOT. The memory area for managing the set of points is created.
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i32 mot_create (i32 nEl, i32 nInt, i32 sizeOfOther, i32 flag)
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Size in number of points of the MOT (>=1)
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Number of units to be interpolated (ordered) for each point (>= 1)
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Size in bytes of auxiliary information associated with the point (>=0)
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Management flag:
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0
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0x00000001
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If TRUE, allows insertion of points with any abscissa instead of increasing abscissa (see mot_append())
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1
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0x00000002
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If TRUE, the additional data returned by mv_mot_exec() is referenced to the end point instead of the starting point of the interpolation segment
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4
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0x00000010
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If TRUE, deletes points after execution (point (n-1) is deleted when execution passes point n)
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Interpolation type value code (Bit 16-:-19, 0x000F00xx):
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16
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0x000100xx
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Linear interpolation
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17
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0x000200xx
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Cubic interpolation with automatic calculation of parameters
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16-17
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0x000300xx
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Cubic interpolation calculated by specifying the value of the first derivative at the point (the velocity, if interpolating positions)
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18
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0x000400xx
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Pentic (fifth-order) interpolation with automatic calculation of parameters
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16-18
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0x000500xx
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Pentic interpolation calculated by specifying the values of the first and second derivatives at the point (the velocity and acceleration, if it is interpolation of positions)
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16-17-18-19
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0x000F00xx
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Mixed interpolation (different for each segment).
The type is specified in the other structure (see mot_append()). The first field of the other structure used in mot_append() must necessarily be of type i32 and contain the type of interpolation: 1=linear, 2=automatic cubic, 4=automatic pent
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Returns:
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> 0
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OK operation.
The value represents the code of the MOT
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-1
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Illegal nEl value
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-2
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Value nInt illegal
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-3
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Excessive nEl value, insufficient memory
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-4
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Internal error
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-8
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Selected mixed interpolation, but other structure does not exist or has size < sizeOfOther
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-9
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Unknown interpolation code
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Rule, Task
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NOTE: Each memory zone created with mot_create() must be destroyed with a corresponding mot_delete(); next calls to mot_create() create different memory zones.
Example of use:
int flag, flag2
string appo
flag.(0) = 1
flag = flag r_or (0x50000)
rMotID = mot_create(1000, 1, 0, flag)
if(rMotID < 0)
str_format(appo, "Unable to create MOT error code :%d", rMotID)
inf_report(0x100, appo)
rMotID = 0
endif
flag2.(0) = 1
flag2 = flag2 r_or (0x40000)
rMotID2 = mot_create(1000, 1, 0, flag2)
if(rMotID2 < 0)
str_format(appo, "Unable to create MOT2 error code :%d", rMotID2)
inf_report(0x100, appo)
rMotID2 = 0
endif
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