ruckig::Calculator< DOFs, CustomVector > Class Template Reference

Interface for the main calculator and its hyperparameters. More...

#include <calculator.hpp>

Public Member Functions
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Calculator ()
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Calculator (size_t dofs)
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Calculator (size_t max_waypoints)
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Calculator (size_t dofs, size_t max_waypoints)
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Calculator (const MemoryRequirement &memory_requirement)
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Calculator (size_t dofs, const MemoryRequirement &memory_requirement)
template<bool throw_error>
Result	calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, double delta_time, bool &was_interrupted)
	Calculate the time-optimal waypoint-based trajectory.
template<bool throw_error>
Result	continue_calculation (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, double delta_time, bool &was_interrupted)
	Continue the trajectory calculation.

Public Attributes
std::optional< double >	position_scale
	Invariant position scale of the underlying calculation (only in Ruckig Pro)
std::optional< double >	time_scale
	Invariant time scale of the underlying calculation (only in Ruckig Pro)
TargetCalculator< DOFs, CustomVector >	target_calculator
	Calculator for state-to-state trajectories.
WaypointsCalculator< DOFs, CustomVector >	waypoints_calculator
	Calculator for trajectories with intermediate waypoints.

Detailed Description

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
class ruckig::Calculator< DOFs, CustomVector >

Interface for the main calculator and its hyperparameters.

The calculator exposes the position- and time-scale parameter to make Ruckig work with a wider numerical range.

Constructor & Destructor Documentation

Calculator() [1/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( )

inlineexplicit

Calculator() [2/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( size_t  dofs )

inlineexplicit

Calculator() [3/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( size_t  max_waypoints )

inlineexplicit

Calculator() [4/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( size_t  dofs, size_t  max_waypoints  )

inlineexplicit

Calculator() [5/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( const MemoryRequirement &  memory_requirement )

inlineexplicit

Calculator() [6/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>

ruckig::Calculator< DOFs, CustomVector >::Calculator ( size_t  dofs, const MemoryRequirement &  memory_requirement  )

inlineexplicit

Member Function Documentation

calculate()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<bool throw_error>

Result ruckig::Calculator< DOFs, CustomVector >::calculate ( const InputParameter< DOFs, CustomVector > &  input, Trajectory< DOFs, CustomVector > &  trajectory, double  delta_time, bool &  was_interrupted  )

inline

Calculate the time-optimal waypoint-based trajectory.

continue_calculation()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

template<bool throw_error>

Result ruckig::Calculator< DOFs, CustomVector >::continue_calculation ( const InputParameter< DOFs, CustomVector > &  input, Trajectory< DOFs, CustomVector > &  trajectory, double  delta_time, bool &  was_interrupted  )

inline

Continue the trajectory calculation.

Member Data Documentation

position_scale

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

std::optional<double> ruckig::Calculator< DOFs, CustomVector >::position_scale

Invariant position scale of the underlying calculation (only in Ruckig Pro)

This can be used to bring the input parameters for the internal calculation to a more friendly numerical range. More info about Ruckig's numerical range at (see https://github.com/pantor/ruckig#tests-and-numerical-stability). This parameter will divide all length units by a factor c, e.g. positions [m] ‘p’ = p / c, velocities [m/s]v' = v / c, or accelerations [m/s^2]a' = a / c`.

target_calculator

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

TargetCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::target_calculator

Calculator for state-to-state trajectories.

time_scale

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

std::optional<double> ruckig::Calculator< DOFs, CustomVector >::time_scale

Invariant time scale of the underlying calculation (only in Ruckig Pro)

This can be used to bring the input parameters for the internal calculation to a more friendly numerical range. More info about Ruckig's numerical range at (see https://github.com/pantor/ruckig#tests-and-numerical-stability). This parameter will divide all time units by a factor c, e.g. velocities [m/s] ‘v’ = v / c, accelerations [m/s^2]a' = a / c^2, or jerks [m/s^3]j' = j / c^3`.

waypoints_calculator

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

WaypointsCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::waypoints_calculator

Calculator for trajectories with intermediate waypoints.

---

The documentation for this class was generated from the following file:

• /include/ruckig/calculator.hpp