Ruckig 0.14.0
Motion Generation for Robots and Machines
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Classes | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
ruckig::Trajectory< DOFs, CustomVector > Class Template Reference

The trajectory generated by the Ruckig algorithm. More...

#include <trajectory.hpp>

Public Member Functions

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Trajectory ()
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Trajectory (size_t dofs)
 
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Trajectory (size_t max_number_of_waypoints)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Trajectory (size_t dofs, size_t max_number_of_waypoints)
 
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Trajectory (const MemoryRequirement &memory_requirement)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Trajectory (size_t dofs, const MemoryRequirement &memory_requirement)
 
void at_time (double time, CustomVector< double, DOFs > &new_position, CustomVector< double, DOFs > &new_velocity, CustomVector< double, DOFs > &new_acceleration, CustomVector< double, DOFs > &new_jerk, size_t &new_section) const
 Get the kinematic state, the jerk, and the section at a given time.
 
void at_time (double time, CustomVector< double, DOFs > &new_position, CustomVector< double, DOFs > &new_velocity, CustomVector< double, DOFs > &new_acceleration) const
 
void at_time (double time, CustomVector< double, DOFs > &new_position) const
 Get the position at a given time.
 
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void at_time (double time, double &new_position, double &new_velocity, double &new_acceleration, double &new_jerk, size_t &new_section) const
 Get the kinematic state, the jerk, and the section at a given time without vectors for a single DoF.
 
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void at_time (double time, double &new_position, double &new_velocity, double &new_acceleration) const
 Get the kinematic state at a given time without vectors for a single DoF.
 
template<size_t D = DOFs, typename std::enable_if<(D==1), int >::type = 0>
void at_time (double time, double &new_position) const
 Get the position at a given time without vectors for a single DoF.
 
Container< CustomVector< Profile, DOFs > >::type get_profiles () const
 Get the underlying profiles of the trajectory (only in the Ruckig Community Version)
 
double get_duration () const
 Get the total duration of the (synchronized) trajectory.
 
Container< double >::type get_intermediate_durations () const
 Get the durations when the intermediate waypoints are reached.
 
CustomVector< double, DOFs > get_independent_min_durations () const
 Get the duration of each independent DoF, without synchronization or discretization.
 
CustomVector< Bound, DOFs > get_position_extrema ()
 Get the min/max values of the position for each DoF (only in Ruckig Pro)
 
CustomVector< Bound, DOFs > get_velocity_extrema ()
 Get the min/max values of the velocity for each DoF (only in Ruckig Pro)
 
std::optional< double > get_first_time_at_position (size_t dof, double position, double time_after=0.0) const
 Get the time that this trajectory passes a specific position of a given DoF the first time.
 
std::optional< double > get_first_time_at_velocity (size_t dof, double velocity, double time_after=0.0) const
 Get the time that this trajectory passes a specific velocity of a given DoF the first time.
 
void scale (double position_scale, double time_scale)
 Scale with the position and time of the trajectory (only in Ruckig Pro)
 
void append (const Trajectory< DOFs > &other)
 Append another trajectory to this one (only in Ruckig Pro)
 

Static Public Member Functions

static Trajectory< DOFs > merge (const std::vector< Trajectory< DOFs > > &trajectories)
 Merge multiple trajectories together. Make sure that the end and start state of subsequent trajectories are equal (only in Ruckig Pro)
 

Public Attributes

size_t degrees_of_freedom
 Degrees of freedom.
 

Detailed Description

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

The trajectory generated by the Ruckig algorithm.

Constructor & Destructor Documentation

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( )
inline

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  dofs)
inline

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  max_number_of_waypoints)
inline

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  dofs,
size_t  max_number_of_waypoints 
)
inline

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( const MemoryRequirement memory_requirement)
inline

◆ Trajectory() [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::Trajectory< DOFs, CustomVector >::Trajectory ( size_t  dofs,
const MemoryRequirement memory_requirement 
)
inline

Member Function Documentation

◆ append()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::Trajectory< DOFs, CustomVector >::append ( const Trajectory< DOFs > &  other)
inline

Append another trajectory to this one (only in Ruckig Pro)

◆ at_time() [1/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
CustomVector< double, DOFs > &  new_position 
) const
inline

Get the position at a given time.

◆ at_time() [2/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
CustomVector< double, DOFs > &  new_position,
CustomVector< double, DOFs > &  new_velocity,
CustomVector< double, DOFs > &  new_acceleration 
) const
inline

Get the kinematic state at a given time The Python wrapper takes time as an argument, and returns new_position, new_velocity, and new_acceleration instead.

◆ at_time() [3/6]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
CustomVector< double, DOFs > &  new_position,
CustomVector< double, DOFs > &  new_velocity,
CustomVector< double, DOFs > &  new_acceleration,
CustomVector< double, DOFs > &  new_jerk,
size_t &  new_section 
) const
inline

Get the kinematic state, the jerk, and the section at a given time.

◆ at_time() [4/6]

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>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
double &  new_position 
) const
inline

Get the position at a given time without vectors for a single DoF.

◆ at_time() [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>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
double &  new_position,
double &  new_velocity,
double &  new_acceleration 
) const
inline

Get the kinematic state at a given time without vectors for a single DoF.

◆ at_time() [6/6]

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>
void ruckig::Trajectory< DOFs, CustomVector >::at_time ( double  time,
double &  new_position,
double &  new_velocity,
double &  new_acceleration,
double &  new_jerk,
size_t &  new_section 
) const
inline

Get the kinematic state, the jerk, and the section at a given time without vectors for a single DoF.

◆ get_duration()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
double ruckig::Trajectory< DOFs, CustomVector >::get_duration ( ) const
inline

Get the total duration of the (synchronized) trajectory.

◆ get_first_time_at_position()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::optional< double > ruckig::Trajectory< DOFs, CustomVector >::get_first_time_at_position ( size_t  dof,
double  position,
double  time_after = 0.0 
) const
inline

Get the time that this trajectory passes a specific position of a given DoF the first time.

◆ get_first_time_at_velocity()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::optional< double > ruckig::Trajectory< DOFs, CustomVector >::get_first_time_at_velocity ( size_t  dof,
double  velocity,
double  time_after = 0.0 
) const
inline

Get the time that this trajectory passes a specific velocity of a given DoF the first time.

◆ get_independent_min_durations()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector< double, DOFs > ruckig::Trajectory< DOFs, CustomVector >::get_independent_min_durations ( ) const
inline

Get the duration of each independent DoF, without synchronization or discretization.

◆ get_intermediate_durations()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
Container< double >::type ruckig::Trajectory< DOFs, CustomVector >::get_intermediate_durations ( ) const
inline

Get the durations when the intermediate waypoints are reached.

◆ get_position_extrema()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector< Bound, DOFs > ruckig::Trajectory< DOFs, CustomVector >::get_position_extrema ( )
inline

Get the min/max values of the position for each DoF (only in Ruckig Pro)

In case an extremum is reached multiple times, the time of the first arrival is returned.

◆ get_profiles()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
Container< CustomVector< Profile, DOFs > >::type ruckig::Trajectory< DOFs, CustomVector >::get_profiles ( ) const
inline

Get the underlying profiles of the trajectory (only in the Ruckig Community Version)

◆ get_velocity_extrema()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
CustomVector< Bound, DOFs > ruckig::Trajectory< DOFs, CustomVector >::get_velocity_extrema ( )
inline

Get the min/max values of the velocity for each DoF (only in Ruckig Pro)

In case an extremum is reached multiple times, the time of the first arrival is returned.

◆ merge()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
static Trajectory< DOFs > ruckig::Trajectory< DOFs, CustomVector >::merge ( const std::vector< Trajectory< DOFs > > &  trajectories)
inlinestatic

Merge multiple trajectories together. Make sure that the end and start state of subsequent trajectories are equal (only in Ruckig Pro)

◆ scale()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
void ruckig::Trajectory< DOFs, CustomVector >::scale ( double  position_scale,
double  time_scale 
)
inline

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

Member Data Documentation

◆ degrees_of_freedom

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

Degrees of freedom.


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