Ruckig 0.10.1
Motion Generation for Robots and Machines
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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. | |
Internal interface for the main calculator and its hyperparameters.
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inlineexplicit |
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inlineexplicit |
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inlineexplicit |
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inlineexplicit |
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inline |
Calculate the time-optimal waypoint-based trajectory.
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inline |
Continue the trajectory calculation.
std::optional<double> ruckig::Calculator< DOFs, CustomVector >::position_scale |
Invariant position scale of the underlying calculation (only in Ruckig Pro)
TargetCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::target_calculator |
State-to-state calculator.
std::optional<double> ruckig::Calculator< DOFs, CustomVector >::time_scale |
Invariant time scale of the underlying calculation (only in Ruckig Pro)
WaypointsCalculator<DOFs, CustomVector> ruckig::Calculator< DOFs, CustomVector >::waypoints_calculator |
Intermediate waypoints calculator.