Ruckig 0.10.1
Motion Generation for Robots and Machines
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Public Member Functions | Public Attributes | List of all members
ruckig::Calculator< DOFs, CustomVector > Class Template Reference

Internal interface for the main calculator and its hyperparameters. More...

#include <calculator.hpp>

Public Member Functions

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Calculator ()
 
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Calculator (size_t max_waypoints)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Calculator (size_t dofs)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Calculator (size_t dofs, size_t max_waypoints)
 
template<bool throw_error>
Result calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, double delta_time, bool &was_interrupted)
 Calculate the time-optimal waypoint-based trajectory.
 
template<bool throw_error>
Result continue_calculation (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, double delta_time, bool &was_interrupted)
 Continue the trajectory calculation.
 

Public Attributes

std::optional< double > position_scale
 Invariant position scale of the underlying calculation (only in Ruckig Pro)
 
std::optional< double > time_scale
 Invariant time scale of the underlying calculation (only in Ruckig Pro)
 
TargetCalculator< DOFs, CustomVector > target_calculator
 State-to-state calculator.
 
WaypointsCalculator< DOFs, CustomVector > waypoints_calculator
 Intermediate waypoints calculator.
 

Detailed Description

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

Internal interface for the main calculator and its hyperparameters.

Constructor & Destructor Documentation

◆ Calculator() [1/4]

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::Calculator< DOFs, CustomVector >::Calculator ( )
inlineexplicit

◆ Calculator() [2/4]

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::Calculator< DOFs, CustomVector >::Calculator ( size_t  max_waypoints)
inlineexplicit

◆ Calculator() [3/4]

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::Calculator< DOFs, CustomVector >::Calculator ( size_t  dofs)
inlineexplicit

◆ Calculator() [4/4]

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::Calculator< DOFs, CustomVector >::Calculator ( size_t  dofs,
size_t  max_waypoints 
)
inlineexplicit

Member Function Documentation

◆ calculate()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
template<bool throw_error>
Result ruckig::Calculator< DOFs, CustomVector >::calculate ( const InputParameter< DOFs, CustomVector > &  input,
Trajectory< DOFs, CustomVector > &  trajectory,
double  delta_time,
bool &  was_interrupted 
)
inline

Calculate the time-optimal waypoint-based trajectory.

◆ continue_calculation()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
template<bool throw_error>
Result ruckig::Calculator< DOFs, CustomVector >::continue_calculation ( const InputParameter< DOFs, CustomVector > &  input,
Trajectory< DOFs, CustomVector > &  trajectory,
double  delta_time,
bool &  was_interrupted 
)
inline

Continue the trajectory calculation.

Member Data Documentation

◆ position_scale

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::optional<double> ruckig::Calculator< DOFs, CustomVector >::position_scale

Invariant position scale of the underlying calculation (only in Ruckig Pro)

◆ target_calculator

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
TargetCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::target_calculator

State-to-state calculator.

◆ time_scale

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::optional<double> ruckig::Calculator< DOFs, CustomVector >::time_scale

Invariant time scale of the underlying calculation (only in Ruckig Pro)

◆ waypoints_calculator

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
WaypointsCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::waypoints_calculator

Intermediate waypoints calculator.


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