|
| 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.
|
| |
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.
template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
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`.
template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
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`.