ruckig::Profile Class Reference

A single-dof kinematic profile with position, velocity, acceleration and jerk. More...

#include <profile.hpp>

Public Types
enum class	ReachedLimits {   ACC0_ACC1_VEL , VEL , ACC0 , ACC1 ,   ACC0_ACC1 , ACC0_VEL , ACC1_VEL , NONE }
enum class	Direction { UP , DOWN }
enum class	ControlSigns { UDDU , UDUD }

Public Member Functions
Bound	get_position_extrema () const
	Get the position extrema along the profile.
Bound	get_velocity_extrema () const
	Get the velocity extrema along the profile.
void	set_boundary_for_velocity (double p0_new, double v0_new, double a0_new, double vf_new, double af_new)
void	set_boundary (const Profile &profile)
void	set_boundary (double p0_new, double v0_new, double a0_new, double pf_new, double vf_new, double af_new)
bool	get_first_state_at_position (double pt, double &time, double time_after=0.0) const
bool	get_first_state_at_velocity (double vt, double &time, double time_after=0.0) 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

Public Attributes
std::array< double, 7 >	t
std::array< double, 7 >	j
std::array< double, 8 >	a
std::array< double, 8 >	v
std::array< double, 8 >	p
BrakeProfile	brake
	Brake sub-profiles.
BrakeProfile	accel
double	duration
	Duration of the profile.
double	pf
	Target (final) kinematic state.
double	vf
double	af
enum ruckig::Profile::ReachedLimits	limits
enum ruckig::Profile::Direction	direction
enum ruckig::Profile::ControlSigns	control_signs
double	polynomial_root
	Helper variable for faster calculation.

Detailed Description

A single-dof kinematic profile with position, velocity, acceleration and jerk.

The class members are only available in the Ruckig Community Version.

Member Enumeration Documentation

ControlSigns

enum class ruckig::Profile::ControlSigns

strong

Enumerator
UDDU
UDUD

Direction

enum class ruckig::Profile::Direction

strong

Enumerator
UP
DOWN

ReachedLimits

enum class ruckig::Profile::ReachedLimits

strong

Enumerator
ACC0_ACC1_VEL
VEL
ACC0
ACC1
ACC0_ACC1
ACC0_VEL
ACC1_VEL
NONE

Member Function Documentation

get_first_state_at_position()

bool ruckig::Profile::get_first_state_at_position	(	double	pt,
		double &	time,
		double	time_after = 0.0
	)		const

get_first_state_at_velocity()

bool ruckig::Profile::get_first_state_at_velocity	(	double	vt,
		double &	time,
		double	time_after = 0.0
	)		const

get_position_extrema()

Bound ruckig::Profile::get_position_extrema

(

)

const

Get the position extrema along the profile.

get_velocity_extrema()

Bound ruckig::Profile::get_velocity_extrema

(

)

const

Get the velocity extrema along the profile.

scale()

void ruckig::Profile::scale	(	double	position_scale,
		double	time_scale
	)

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

set_boundary() [1/2]

void ruckig::Profile::set_boundary

(

const Profile &

profile

)

set_boundary() [2/2]

void ruckig::Profile::set_boundary	(	double	p0_new,
		double	v0_new,
		double	a0_new,
		double	pf_new,
		double	vf_new,
		double	af_new
	)

set_boundary_for_velocity()

void ruckig::Profile::set_boundary_for_velocity	(	double	p0_new,
		double	v0_new,
		double	a0_new,
		double	vf_new,
		double	af_new
	)

to_string()

std::string ruckig::Profile::to_string

(

)

const

Member Data Documentation

a

std::array<double, 8> ruckig::Profile::a

accel

BrakeProfile ruckig::Profile::accel

af

double ruckig::Profile::af

brake

BrakeProfile ruckig::Profile::brake

Brake sub-profiles.

control_signs

enum ruckig::Profile::ControlSigns ruckig::Profile::control_signs

direction

enum ruckig::Profile::Direction ruckig::Profile::direction

duration

double ruckig::Profile::duration

Duration of the profile.

j

std::array<double, 7> ruckig::Profile::j

limits

enum ruckig::Profile::ReachedLimits ruckig::Profile::limits

p

std::array<double, 8> ruckig::Profile::p

pf

double ruckig::Profile::pf

Target (final) kinematic state.

polynomial_root

double ruckig::Profile::polynomial_root

Helper variable for faster calculation.

t

std::array<double, 7> ruckig::Profile::t

v

std::array<double, 8> ruckig::Profile::v

vf

double ruckig::Profile::vf

---

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

• /home/runner/work/ruckig-pro/ruckig-pro/include/ruckig/profile.hpp
• /home/runner/work/ruckig-pro/ruckig-pro/src/ruckig/profile.cpp