Ruckig: ruckig::OutputParameter< DOFs, CustomVector > Class Template Reference

Ruckig 0.15.0

Motion Generation for Robots and Machines

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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:

/include/ruckig/output_parameter.hpp