Main interface for the Ruckig algorithm. More...

#include <ruckig.hpp>

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

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

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

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

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

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

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

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

void	reset ()
	Reset the instance (e.g. to force a new calculation in the next update)

std::vector< CustomVector< double, DOFs > >	filter_intermediate_positions (const InputParameter< DOFs, CustomVector > &input, const CustomVector< double, DOFs > &threshold_distance) const
	Filter intermediate positions based on a threshold distance for each DoF.

template<bool throw_validation_error = true>
bool	validate_input (const InputParameter< DOFs, CustomVector > &input, bool check_current_state_within_limits=false, bool check_target_state_within_limits=true) const
	Validate the input as well as the Ruckig instance for trajectory calculation.

Result	calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory)
	Calculate a new trajectory for the given input.

Result	calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, bool &was_interrupted)
	Calculate a new trajectory for the given input and check for interruption.

Result	update (const InputParameter< DOFs, CustomVector > &input, OutputParameter< DOFs, CustomVector > &output)
	Get the next output state (with step delta_time) along the calculated trajectory for the given input.

Result	update (const Trajectory< DOFs, CustomVector > &trajectory, OutputParameter< DOFs, CustomVector > &output)
	Move along the given trajectory with step delta_time, starting from the current output.time.

Public Attributes
Calculator< DOFs, CustomVector >	calculator
	Calculator for new trajectories.

const size_t	max_number_of_waypoints
	Max number of intermediate waypoints.

const size_t	degrees_of_freedom
	Degrees of freedom.

double	delta_time
	Time step between updates (control cycle time)

double	speed
	Time step along the trajectory relative to the cycle time (only in Ruckig Pro)

Detailed Description

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>
class ruckig::Ruckig< DOFs, CustomVector, throw_error >

Main interface for the Ruckig algorithm.

Constructor & Destructor Documentation

◆ Ruckig() [1/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig ( )

inlineexplicit

◆ Ruckig() [2/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig ( double delta_time )

inlineexplicit

◆ Ruckig() [3/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig	(	double	delta_time,
		size_t	max_number_of_waypoints )

inlineexplicit

◆ Ruckig() [4/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig	(	double	delta_time,
		const MemoryRequirement &	memory_requirement )

inlineexplicit

◆ Ruckig() [5/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig ( size_t dofs )

inlineexplicit

◆ Ruckig() [6/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig	(	size_t	dofs,
		double	delta_time )

inlineexplicit

◆ Ruckig() [7/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig	(	size_t	dofs,
		double	delta_time,
		size_t	max_number_of_waypoints )

inlineexplicit

◆ Ruckig() [8/8]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

ruckig::Ruckig< DOFs, CustomVector, throw_error >::Ruckig	(	size_t	dofs,
		double	delta_time,
		const MemoryRequirement &	memory_requirement )

inlineexplicit

Member Function Documentation

◆ calculate() [1/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::calculate	(	const InputParameter< DOFs, CustomVector > &	input,
		Trajectory< DOFs, CustomVector > &	trajectory )

inline

Calculate a new trajectory for the given input.

◆ calculate() [2/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::calculate	(	const InputParameter< DOFs, CustomVector > &	input,
		Trajectory< DOFs, CustomVector > &	trajectory,
		bool &	was_interrupted )

inline

Calculate a new trajectory for the given input and check for interruption.

◆ filter_intermediate_positions()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

std::vector< CustomVector< double, DOFs > > ruckig::Ruckig< DOFs, CustomVector, throw_error >::filter_intermediate_positions	(	const InputParameter< DOFs, CustomVector > &	input,
		const CustomVector< double, DOFs > &	threshold_distance ) const

inline

Filter intermediate positions based on a threshold distance for each DoF.

This method removes intermediate positions from the input so that the linear interpolation between the waypoints does not exceed the threshold distance to the given positions. The threshold distance is given per degree of freedom.

◆ reset()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

void ruckig::Ruckig< DOFs, CustomVector, throw_error >::reset ( )

inline

Reset the instance (e.g. to force a new calculation in the next update)

◆ update() [1/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::update	(	const InputParameter< DOFs, CustomVector > &	input,
		OutputParameter< DOFs, CustomVector > &	output )

inline

Get the next output state (with step delta_time) along the calculated trajectory for the given input.

◆ update() [2/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::update	(	const Trajectory< DOFs, CustomVector > &	trajectory,
		OutputParameter< DOFs, CustomVector > &	output )

inline

Move along the given trajectory with step delta_time, starting from the current output.time.

◆ validate_input()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

template<bool throw_validation_error = true>

bool ruckig::Ruckig< DOFs, CustomVector, throw_error >::validate_input	(	const InputParameter< DOFs, CustomVector > &	input,
		bool	check_current_state_within_limits = false,
		bool	check_target_state_within_limits = true ) const

inline

Validate the input as well as the Ruckig instance for trajectory calculation.

Member Data Documentation

◆ calculator

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Calculator<DOFs, CustomVector> ruckig::Ruckig< DOFs, CustomVector, throw_error >::calculator

Calculator for new trajectories.

◆ degrees_of_freedom

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

const size_t ruckig::Ruckig< DOFs, CustomVector, throw_error >::degrees_of_freedom

Degrees of freedom.

◆ delta_time

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

double ruckig::Ruckig< DOFs, CustomVector, throw_error >::delta_time

Time step between updates (control cycle time)

This parameter can be changed freely between calling update.

◆ max_number_of_waypoints

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

const size_t ruckig::Ruckig< DOFs, CustomVector, throw_error >::max_number_of_waypoints

Max number of intermediate waypoints.

◆ speed

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

double ruckig::Ruckig< DOFs, CustomVector, throw_error >::speed

Time step along the trajectory relative to the cycle time (only in Ruckig Pro)

This allows e.g. to slow down or pause the robot along a calculated trajectory. Usually in [0.0, 1.0], 1.0 by default.

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

/include/ruckig/ruckig.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Ruckig() [1/8]

◆ Ruckig() [2/8]

◆ Ruckig() [3/8]

◆ Ruckig() [4/8]

◆ Ruckig() [5/8]

◆ Ruckig() [6/8]

◆ Ruckig() [7/8]

◆ Ruckig() [8/8]

Member Function Documentation

◆ calculate() [1/2]

◆ calculate() [2/2]

◆ filter_intermediate_positions()

◆ reset()

◆ update() [1/2]

◆ update() [2/2]

◆ validate_input()

Member Data Documentation

◆ calculator

◆ degrees_of_freedom

◆ delta_time

◆ max_number_of_waypoints

◆ speed