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.

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

• /include/ruckig/trajectory.hpp