Input of the Ruckig algorithm. More...

#include <input_parameter.hpp>

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

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

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

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

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	InputParameter (const MemoryRequirement &memory_requirement)

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	InputParameter (size_t dofs, const MemoryRequirement &memory_requirement)

template<bool throw_validation_error = true>
bool	validate (bool check_current_state_within_limits=false, bool check_target_state_within_limits=true) const
	Validate the input for trajectory calculation.

bool	operator!= (const InputParameter< DOFs, CustomVector > &rhs) const

void	scale (double position_scale, double time_scale)
	Scale with the position and time of the input (only in Ruckig Pro)

std::string	to_string () const
	Get a string representation of the parameters.

Public Attributes
size_t	degrees_of_freedom
	Degrees of freedom.

ControlInterface	control_interface
	The default position interface controls the full kinematic state.

Synchronization	synchronization
	Synchronization behavior of multiple DoFs.

DurationDiscretization	duration_discretization
	Whether the duration should be a discrete multiple of the control cycle (off by default)

TargetLimitViolation	target_limit_violation
	Behavior when the target state exceeds the limits (return error by default) (only in Pro Version)

CustomVector< double, DOFs >	current_position
	Current (start) state.

CustomVector< double, DOFs >	current_velocity

CustomVector< double, DOFs >	current_acceleration

CustomVector< double, DOFs >	target_position
	Target (goal) state.

CustomVector< double, DOFs >	target_velocity

CustomVector< double, DOFs >	target_acceleration

CustomVector< double, DOFs >	max_velocity
	Velocity limit.

CustomVector< double, DOFs >	max_acceleration
	Acceleration limit.

CustomVector< double, DOFs >	max_jerk
	Jerk limit.

std::optional< CustomVector< double, DOFs > >	min_velocity
	Minimum velocity limit. If none is given, the negative maximum velocity limit is used.

std::optional< CustomVector< double, DOFs > >	min_acceleration
	Minimum acceleration limit. If none is given, the negative maximum acceleration limit is used.

std::vector< CustomVector< double, DOFs > >	intermediate_positions
	Intermediate waypoints (only in Ruckig Pro)

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_max_velocity
	Kinematic constraints for intermediate sections (between waypoints) (only in Ruckig Pro)

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_max_acceleration

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_max_jerk

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_min_velocity

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_min_acceleration

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_max_position

std::optional< std::vector< CustomVector< double, DOFs > > >	per_section_min_position

std::optional< CustomVector< double, DOFs > >	max_position
	Maximum positional limit (only in Ruckig Pro)

std::optional< CustomVector< double, DOFs > >	min_position
	Minimum positional limit (only in Ruckig Pro)

CustomVector< bool, DOFs >	enabled
	Is the DoF considered for calculation?

std::optional< CustomVector< ControlInterface, DOFs > >	per_dof_control_interface
	Per-DoF control_interface (overwrites global control_interface)

std::optional< CustomVector< Synchronization, DOFs > >	per_dof_synchronization
	Per-DoF synchronization (overwrites global synchronization)

std::optional< double >	minimum_duration
	Minimum trajectory duration.

std::optional< std::vector< double > >	per_section_minimum_duration

std::optional< double >	interrupt_calculation_duration
	Optional duration [µs] after which the trajectory calculation is (softly) interrupted (only in Ruckig Pro)

Detailed Description

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>
class ruckig::InputParameter< DOFs, CustomVector >

Input of the Ruckig algorithm.

Constructor & Destructor Documentation

◆ InputParameter() [1/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

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

inline

◆ InputParameter() [2/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

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

inline

◆ InputParameter() [3/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

ruckig::InputParameter< DOFs, CustomVector >::InputParameter ( size_t max_number_of_waypoints )

inline

◆ InputParameter() [4/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

ruckig::InputParameter< DOFs, CustomVector >::InputParameter	(	size_t	dofs,
		size_t	max_number_of_waypoints
	)

inline

◆ InputParameter() [5/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

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

inline

◆ InputParameter() [6/6]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

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

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

inline

Member Function Documentation

◆ operator!=()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

bool ruckig::InputParameter< DOFs, CustomVector >::operator!= ( const InputParameter< DOFs, CustomVector > & rhs ) const

inline

◆ scale()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

void ruckig::InputParameter< DOFs, CustomVector >::scale	(	double	position_scale,
		double	time_scale
	)

inline

Scale with the position and time of the input (only in Ruckig Pro)

◆ to_string()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::string ruckig::InputParameter< DOFs, CustomVector >::to_string ( ) const

inline

Get a string representation of the parameters.

◆ validate()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

template<bool throw_validation_error = true>

bool ruckig::InputParameter< DOFs, CustomVector >::validate	(	bool	check_current_state_within_limits = `false`,
		bool	check_target_state_within_limits = `true`
	)		const

inline

Validate the input for trajectory calculation.

Member Data Documentation

◆ control_interface

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

ControlInterface ruckig::InputParameter< DOFs, CustomVector >::control_interface

The default position interface controls the full kinematic state.

◆ current_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::current_acceleration

◆ current_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::current_position

Current (start) state.

◆ current_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::current_velocity

◆ degrees_of_freedom

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

size_t ruckig::InputParameter< DOFs, CustomVector >::degrees_of_freedom

Degrees of freedom.

◆ duration_discretization

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

DurationDiscretization ruckig::InputParameter< DOFs, CustomVector >::duration_discretization

Whether the duration should be a discrete multiple of the control cycle (off by default)

◆ enabled

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<bool, DOFs> ruckig::InputParameter< DOFs, CustomVector >::enabled

Is the DoF considered for calculation?

A DoF / axis is enabled by default. Otherwise it will be ignored for all calculations, in particular any synchronization. Ruckig will output a trajectory with constant acceleration for those DoFs.

◆ intermediate_positions

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::vector< CustomVector<double, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::intermediate_positions

Intermediate waypoints (only in Ruckig Pro)

◆ interrupt_calculation_duration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional<double> ruckig::InputParameter< DOFs, CustomVector >::interrupt_calculation_duration

Optional duration [µs] after which the trajectory calculation is (softly) interrupted (only in Ruckig Pro)

The total calculation consists of a first iterative phase and a second fixed phase. The interrupt signal is applied to the iterative phase only, and the real-time capable (constant) second phase is computed afterwards. Therefore, the total calculation duration might exceed this interrupt signal by a constant offset, which should be considered (subtracted) here.

◆ max_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::max_acceleration

Acceleration limit.

◆ max_jerk

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::max_jerk

Jerk limit.

◆ max_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<double, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::max_position

Maximum positional limit (only in Ruckig Pro)

◆ max_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::max_velocity

Velocity limit.

◆ min_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<double, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::min_acceleration

Minimum acceleration limit. If none is given, the negative maximum acceleration limit is used.

◆ min_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<double, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::min_position

Minimum positional limit (only in Ruckig Pro)

◆ min_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<double, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::min_velocity

Minimum velocity limit. If none is given, the negative maximum velocity limit is used.

◆ minimum_duration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional<double> ruckig::InputParameter< DOFs, CustomVector >::minimum_duration

Minimum trajectory duration.

Due to physics, we cannot guarantee an exact, but only a minimum duration of the trajectory.

◆ per_dof_control_interface

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<ControlInterface, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_control_interface

Per-DoF control_interface (overwrites global control_interface)

◆ per_dof_synchronization

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< CustomVector<Synchronization, DOFs> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_synchronization

Per-DoF synchronization (overwrites global synchronization)

◆ per_section_max_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_acceleration

◆ per_section_max_jerk

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_jerk

◆ per_section_max_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_position

◆ per_section_max_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_velocity

Kinematic constraints for intermediate sections (between waypoints) (only in Ruckig Pro)

◆ per_section_min_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_acceleration

◆ per_section_min_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_position

◆ per_section_min_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector< CustomVector<double, DOFs> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_velocity

◆ per_section_minimum_duration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

std::optional< std::vector<double> > ruckig::InputParameter< DOFs, CustomVector >::per_section_minimum_duration

Minimum trajectory duration for each intermediate sections (only in Ruckig Pro)

Due to physics, we cannot guarantee an exact, but only a minimum duration of the section.

◆ synchronization

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

Synchronization ruckig::InputParameter< DOFs, CustomVector >::synchronization

Synchronization behavior of multiple DoFs.

◆ target_acceleration

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::target_acceleration

◆ target_limit_violation

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

TargetLimitViolation ruckig::InputParameter< DOFs, CustomVector >::target_limit_violation

Behavior when the target state exceeds the limits (return error by default) (only in Pro Version)

◆ target_position

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::target_position

Target (goal) state.

◆ target_velocity

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector>

CustomVector<double, DOFs> ruckig::InputParameter< DOFs, CustomVector >::target_velocity

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

/home/runner/work/ruckig-pro/ruckig-pro/include/ruckig/input_parameter.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InputParameter() [1/6]

◆ InputParameter() [2/6]

◆ InputParameter() [3/6]

◆ InputParameter() [4/6]

◆ InputParameter() [5/6]

◆ InputParameter() [6/6]

Member Function Documentation

◆ operator!=()

◆ scale()

◆ to_string()

◆ validate()

Member Data Documentation

◆ control_interface

◆ current_acceleration

◆ current_position

◆ current_velocity

◆ degrees_of_freedom

◆ duration_discretization

◆ enabled

◆ intermediate_positions

◆ interrupt_calculation_duration

◆ max_acceleration

◆ max_jerk

◆ max_position

◆ max_velocity

◆ min_acceleration

◆ min_position

◆ min_velocity

◆ minimum_duration

◆ per_dof_control_interface

◆ per_dof_synchronization

◆ per_section_max_acceleration

◆ per_section_max_jerk

◆ per_section_max_position

◆ per_section_max_velocity

◆ per_section_min_acceleration

◆ per_section_min_position

◆ per_section_min_velocity

◆ per_section_minimum_duration

◆ synchronization

◆ target_acceleration

◆ target_limit_violation

◆ target_position

◆ target_velocity