MPIMotionPTF
Definition

typedef struct MPIMotionPTF {
long pointCount;
double *position;
double *feedforward;
double *time;
MPIMotionPoint point;
} MPIMotionPTF; 
Description
MPIMotionPTF contains the motion parameters for the MPIMotionTypePTF.
The feedforward values are interpolated linearly over the PT or PVT time intervals. The feedfoward values correspond to the P or PV values. (i.e. When the motion reaches a specified position (PTF) or position and velocity (PVTF), the interpolated feedforward value will be equal to what is specified in the motion parameters.)
The feedforward values are not set to zero at the beginning of the move; they retain the last value that is specified in the PTF or PVTF motion parameters.
The feedforward values are not zeroed by nonPTF or PVTF moves (i.e. PT, PVT, Spline, SCurve, etc.).

pointCount 
This value specifies the number of points.

*position 
This array stores the positions for the motion profile. There is one position value per point, per axis. The length of the array must be equal to pointCount multiplied by the number of axes. The positions are interleaved in the array by the axis index. 
*feedforward 
This array stores the feedforward values for the motion profile. There is one feedforward value per point, per axis. The length of the array must be equal to pointCount multiplied by the number of axes. The feedforward values are interleaved in the array by the axis index. The units are raw DAC counts (range 32768 to +32767). 
*time 
This array stores the times for the motion profile. There is one time value per point. The time specifies the number of seconds between the specified position, and the previous position (point). The length of the time array must be equal to pointCount. 
point 
This structure contains the point configuration. Please see MPIMotionPoint data type for more information. 

See Also
MPIMotionParams  MPIMotionType  MPIMotionPoint  mpiMotionStart  mpiMotionModify 
Frame Buffer Management for Streaming Point Motion
