Basics of Path Interpolation
2.5 Path interpolation types
TO Path Interpolation
30 Function Manual, 11/2010
2.5.5.4 Polynomial paths - attach continuously
Polynomial paths can be attached continuously to a previous path segment using the
polynomialMode:=ATTACHED_STEADILY setting. Because the geometric derivatives at the
start point of the polynomial are taken from the predecessor geometry, only the first and the
second derivative at the end point needs to be specified directly.
The two derivatives for the polynomial command are specified as following:
● vector1: First geometric derivative/tangential vector in end point
● vector2: Second geometric derivative/curvature vector in end point
If the geometric derivative cannot be determined in the start point (if no current motion is
available), the command is not executed and error message 50002 "Calculation of the
geometry element not possible, reason 3" is output.
6WDUWLQJSRLQW
(QGSRLQW
&RRUGLQDWH
&RRUGLQDWH
Figure 2-19 Polynomial path - attach continuously
Example of a polynomial path attached continuously
This example connects two straight lines using a polynomial.
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Figure 2-20 Example for the continuous attachment of polynomial paths
The two derivatives at the end point of the polynomial must be calculated first. The
_getLinearPathGeometricData() function used here returns a structure with the derivatives.
The function calculates the derivatives for the start point of the straight lines (end point of the
polynomial) using the start and end point coordinates of the straight lines.
// EndPoly must be defined as
// StructRetGetLinearPathGeometricData
EndPoly :=
_getLinearPathGeometricData(
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