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.

◆ 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