Ruckig 0.15.0
Motion Generation for Robots and Machines
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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. | |
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.
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Calculate the time-optimal waypoint-based trajectory.
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Continue the trajectory calculation.
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`.
TargetCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::target_calculator |
Calculator for state-to-state trajectories.
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`.
WaypointsCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::waypoints_calculator |
Calculator for trajectories with intermediate waypoints.