Ruckig 0.13.0
Motion Generation for Robots and Machines
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Public Member Functions | Public Attributes | List of all members
ruckig::OutputParameter< DOFs, CustomVector > Class Template Reference

Output of the Ruckig algorithm. More...

#include <output_parameter.hpp>

Public Member Functions

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 OutputParameter ()
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 OutputParameter (size_t dofs)
 
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 OutputParameter (size_t max_number_of_waypoints)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 OutputParameter (size_t dofs, size_t max_number_of_waypoints)
 
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 OutputParameter (const MemoryRequirement &memory_requirement)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 OutputParameter (size_t dofs, const MemoryRequirement &memory_requirement)
 
void pass_to_input (InputParameter< DOFs, CustomVector > &input) const
 Copies the new output state to the current state of the input.
 
std::string to_string () const
 Get a string representation of the parameters.
 

Public Attributes

size_t degrees_of_freedom
 Degrees of freedom.
 
Trajectory< DOFs, CustomVector > trajectory
 Current trajectory.
 
CustomVector< double, DOFs > new_position
 New position values at the given time.
 
CustomVector< double, DOFs > new_velocity
 New velocity values at the given time.
 
CustomVector< double, DOFs > new_acceleration
 New acceleration values at the given time.
 
CustomVector< double, DOFs > new_jerk
 New jerk values at the given time.
 
double time
 Current time on the trajectory.
 
size_t new_section
 Index of the current section between two (possibly filtered) intermediate positions (only relevant in Ruckig Pro)
 
bool did_section_change
 Was a new section reached in the last cycle? (only relevant in Ruckig Pro)
 
bool new_calculation
 Was a new trajectory calculation performed in the last cycle?
 
bool was_calculation_interrupted
 Was the trajectory calculation interrupted? (only in Ruckig Pro)
 
double calculation_duration
 Computational duration of the last update call.
 

Detailed Description

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

Output of the Ruckig algorithm.

Constructor & Destructor Documentation

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( )
inline

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  dofs)
inline

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  max_number_of_waypoints)
inline

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  dofs,
size_t  max_number_of_waypoints 
)
inline

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( const MemoryRequirement &  memory_requirement)
inline

◆ OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  dofs,
const MemoryRequirement &  memory_requirement 
)
inline

Member Function Documentation

◆ pass_to_input()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::OutputParameter< DOFs, CustomVector >::pass_to_input ( InputParameter< DOFs, CustomVector > &  input) const
inline

Copies the new output state to the current state of the input.

◆ to_string()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::string ruckig::OutputParameter< DOFs, CustomVector >::to_string ( ) const
inline

Get a string representation of the parameters.

Member Data Documentation

◆ calculation_duration

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
double ruckig::OutputParameter< DOFs, CustomVector >::calculation_duration

Computational duration of the last update call.

◆ degrees_of_freedom

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

Degrees of freedom.

◆ did_section_change

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
bool ruckig::OutputParameter< DOFs, CustomVector >::did_section_change

Was a new section reached in the last cycle? (only relevant in Ruckig Pro)

◆ new_acceleration

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector<double, DOFs> ruckig::OutputParameter< DOFs, CustomVector >::new_acceleration

New acceleration values at the given time.

◆ new_calculation

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
bool ruckig::OutputParameter< DOFs, CustomVector >::new_calculation

Was a new trajectory calculation performed in the last cycle?

◆ new_jerk

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector<double, DOFs> ruckig::OutputParameter< DOFs, CustomVector >::new_jerk

New jerk values at the given time.

◆ new_position

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector<double, DOFs> ruckig::OutputParameter< DOFs, CustomVector >::new_position

New position values at the given time.

◆ new_section

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

Index of the current section between two (possibly filtered) intermediate positions (only relevant in Ruckig Pro)

◆ new_velocity

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector<double, DOFs> ruckig::OutputParameter< DOFs, CustomVector >::new_velocity

New velocity values at the given time.

◆ time

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
double ruckig::OutputParameter< DOFs, CustomVector >::time

Current time on the trajectory.

This refers to the time along the trajectory, not necessarily the passed clock time. This might be different when using the speed parameter of the Ruckig class.

◆ trajectory

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
Trajectory<DOFs, CustomVector> ruckig::OutputParameter< DOFs, CustomVector >::trajectory

Current trajectory.

◆ was_calculation_interrupted

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
bool ruckig::OutputParameter< DOFs, CustomVector >::was_calculation_interrupted

Was the trajectory calculation interrupted? (only in Ruckig Pro)

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