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pure virtual |
Gets the TrajectoryExecutor's buffer size in frames, one frame is used per RMP sample period.
This value (converted to seconds) must be greater than the joints' MultiAxis::EStopTimeGet() value.
If the number of frames loaded by the executor falls below this and there are no more to load, an EStop is issued. Multiply this value by MotionController::SampleRateGet to get the time duration (in seconds) of the buffer. Part of the PathMotion method group.