ruckig::Trackig< DOFs, CustomVector > Class Template Reference

The main interface for the Trackig algorithm. More...

#include <trackig.hpp>

Public Member Functions
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	Trackig (double delta_time)
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	Trackig (size_t dofs, double delta_time)
Result	update (const TargetState< DOFs, CustomVector > &target_state, InputParameter< DOFs, CustomVector > &input, OutputParameter< DOFs, CustomVector > &output)
	Follow the given target state online.
std::vector< OutputParameter< DOFs, CustomVector > >	calculate_trajectory (const std::vector< TargetState< DOFs, CustomVector > > &trajectory, InputParameter< DOFs, CustomVector > &input)
	Follow the fully-known trajectory in an offline manner.

Public Attributes
Calculator< DOFs, CustomVector >	calculator
	Calculator for new trajectories.
const size_t	degrees_of_freedom
	Degrees of freedom.
const double	delta_time
	Time step between updates (cycle time)
TrackigMode	mode
	Different modes of the trackig algorithm, e.g. for optimized or fast mode.
double	reactiveness
	Parameter to tune the plan-ahead time of the controller, in [0.0, 1.0].
size_t	look_ahead_cycles
	Parameter to tune how many cycle to look a head (for calculating trajectories)
size_t	max_iterations
	Maximum number of iterations for the optimization.
size_t	last_iterations_counter
	Number of iterations used during the last optimization step.
std::function< TargetState< DOFs, CustomVector >(const TargetState< DOFs, CustomVector > &, double)>	prediction_model
	The model for predicting the kinematic state into the future, the default is integration with constant acceleration.

Detailed Description

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

The main interface for the Trackig algorithm.

Constructor & Destructor Documentation

Trackig() [1/2]

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::Trackig< DOFs, CustomVector >::Trackig ( double delta_time )

inlineexplicit

Trackig() [2/2]

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::Trackig< DOFs, CustomVector >::Trackig ( size_t dofs, double delta_time )

inlineexplicit

Member Function Documentation

calculate_trajectory()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

std::vector< OutputParameter< DOFs, CustomVector > > ruckig::Trackig< DOFs, CustomVector >::calculate_trajectory ( const std::vector< TargetState< DOFs, CustomVector > > & trajectory, InputParameter< DOFs, CustomVector > & input )

inline

Follow the fully-known trajectory in an offline manner.

update()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Result ruckig::Trackig< DOFs, CustomVector >::update ( const TargetState< DOFs, CustomVector > & target_state, InputParameter< DOFs, CustomVector > & input, OutputParameter< DOFs, CustomVector > & output )

inline

Follow the given target state online.

Member Data Documentation

calculator

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

Calculator<DOFs, CustomVector> ruckig::Trackig< DOFs, CustomVector >::calculator

Calculator for new trajectories.

degrees_of_freedom

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

const size_t ruckig::Trackig< DOFs, CustomVector >::degrees_of_freedom

Degrees of freedom.

delta_time

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

const double ruckig::Trackig< DOFs, CustomVector >::delta_time

Time step between updates (cycle time)

last_iterations_counter

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

size_t ruckig::Trackig< DOFs, CustomVector >::last_iterations_counter

Number of iterations used during the last optimization step.

look_ahead_cycles

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

size_t ruckig::Trackig< DOFs, CustomVector >::look_ahead_cycles

Parameter to tune how many cycle to look a head (for calculating trajectories)

max_iterations

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

size_t ruckig::Trackig< DOFs, CustomVector >::max_iterations

Maximum number of iterations for the optimization.

mode

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

TrackigMode ruckig::Trackig< DOFs, CustomVector >::mode

Different modes of the trackig algorithm, e.g. for optimized or fast mode.

prediction_model

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

std::function<TargetState<DOFs, CustomVector>(const TargetState<DOFs, CustomVector>&, double)> ruckig::Trackig< DOFs, CustomVector >::prediction_model

The model for predicting the kinematic state into the future, the default is integration with constant acceleration.

reactiveness

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

double ruckig::Trackig< DOFs, CustomVector >::reactiveness

Parameter to tune the plan-ahead time of the controller, in [0.0, 1.0].

---

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

• /include/ruckig/trackig.hpp