Input of the Ruckig algorithm. More...

#include <input_parameter.hpp>

Public Member Functions
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	InputParameter ()

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	InputParameter (size_t dofs)

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	InputParameter (size_t max_number_of_waypoints)

template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	InputParameter (size_t dofs, size_t max_number_of_waypoints)

InputParameter &	operator= (const InputParameter &other)

template<bool throw_validation_error = true>
bool	validate (bool check_current_state_within_limits=false, bool check_target_state_within_limits=true) const
	Validate the input for trajectory calculation.

bool	operator!= (const InputParameter< DOFs, CustomVector > &rhs) const

void	scale (double position_scale, double time_scale)
	Scale with the position and time of the input (only in Ruckig Pro)

std::string	to_string () const

Public Attributes
size_t	degrees_of_freedom

ControlInterface	control_interface = ControlInterface::Position

Synchronization	synchronization = Synchronization::Time

DurationDiscretization	duration_discretization = DurationDiscretization::Continuous

Vector< double >	current_position
	Current state.

Vector< double >	current_velocity

Vector< double >	current_acceleration

Vector< double >	target_position
	Target state.

Vector< double >	target_velocity

Vector< double >	target_acceleration

Vector< double >	max_velocity
	Kinematic constraints.

Vector< double >	max_acceleration

Vector< double >	max_jerk

std::optional< Vector< double > >	min_velocity

std::optional< Vector< double > >	min_acceleration

std::vector< Vector< double > >	intermediate_positions
	Intermediate waypoints (only in Ruckig Pro)

std::optional< std::vector< Vector< double > > >	per_section_max_velocity
	Kinematic constraints for intermediate sections (between waypoints) (only in Ruckig Pro)

std::optional< std::vector< Vector< double > > >	per_section_max_acceleration

std::optional< std::vector< Vector< double > > >	per_section_max_jerk

std::optional< std::vector< Vector< double > > >	per_section_min_velocity

std::optional< std::vector< Vector< double > > >	per_section_min_acceleration

std::optional< std::vector< Vector< double > > >	per_section_max_position

std::optional< std::vector< Vector< double > > >	per_section_min_position

std::optional< Vector< double > >	max_position
	Positional constraints (only in Ruckig Pro)

std::optional< Vector< double > >	min_position

Vector< bool >	enabled
	Is the DoF considered for calculation?

std::optional< Vector< ControlInterface > >	per_dof_control_interface
	Per-DoF control_interface (overwrites global control_interface)

std::optional< Vector< Synchronization > >	per_dof_synchronization
	Per-DoF synchronization (overwrites global synchronization)

std::optional< double >	minimum_duration
	Optional minimum trajectory duration.

std::optional< std::vector< double > >	per_section_minimum_duration
	Optional minimum trajectory duration for each intermediate sections (only in Ruckig Pro)

std::optional< double >	interrupt_calculation_duration
	Optional duration [µs] after which the trajectory calculation is (softly) interrupted (only in Ruckig Pro)

Detailed Description

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

Input of the Ruckig algorithm.

Constructor & Destructor Documentation

◆ InputParameter() [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::InputParameter< DOFs, CustomVector >::InputParameter ( )

inline

◆ InputParameter() [2/4]

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::InputParameter< DOFs, CustomVector >::InputParameter ( size_t dofs )

inline

◆ InputParameter() [3/4]

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::InputParameter< DOFs, CustomVector >::InputParameter ( size_t max_number_of_waypoints )

inline

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

inline

Member Function Documentation

◆ operator!=()

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

bool ruckig::InputParameter< DOFs, CustomVector >::operator!= ( const InputParameter< DOFs, CustomVector > & rhs ) const

inline

◆ operator=()

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

InputParameter & ruckig::InputParameter< DOFs, CustomVector >::operator= ( const InputParameter< DOFs, CustomVector > & other )

inline

◆ scale()

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

void ruckig::InputParameter< DOFs, CustomVector >::scale	(	double	position_scale,
		double	time_scale
	)

inline

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

◆ to_string()

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

std::string ruckig::InputParameter< DOFs, CustomVector >::to_string ( ) const

inline

◆ validate()

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

template<bool throw_validation_error = true>

bool ruckig::InputParameter< DOFs, CustomVector >::validate	(	bool	check_current_state_within_limits = `false`,
		bool	check_target_state_within_limits = `true`
	)		const

inline

Validate the input for trajectory calculation.

Member Data Documentation

◆ control_interface

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

ControlInterface ruckig::InputParameter< DOFs, CustomVector >::control_interface = ControlInterface::Position

◆ current_acceleration

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_acceleration

◆ current_position

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_position

Current state.

◆ current_velocity

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_velocity

◆ degrees_of_freedom

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

size_t ruckig::InputParameter< DOFs, CustomVector >::degrees_of_freedom

◆ duration_discretization

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

DurationDiscretization ruckig::InputParameter< DOFs, CustomVector >::duration_discretization = DurationDiscretization::Continuous

◆ enabled

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

Vector<bool> ruckig::InputParameter< DOFs, CustomVector >::enabled

Is the DoF considered for calculation?

◆ intermediate_positions

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

std::vector< Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::intermediate_positions

Intermediate waypoints (only in Ruckig Pro)

◆ interrupt_calculation_duration

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

std::optional<double> ruckig::InputParameter< DOFs, CustomVector >::interrupt_calculation_duration

Optional duration [µs] after which the trajectory calculation is (softly) interrupted (only in Ruckig Pro)

The total calculation consists of a first iterative phase and a second fixed phase. The interrupt signal is applied to the iterative phase only, and the real-time capable (constant) second phase is computed afterwards. Therefore, the total calculation duration might exceed this interrupt signal by a constant offset, which should be considered (subtracted) here.

◆ max_acceleration

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_acceleration

◆ max_jerk

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_jerk

◆ max_position

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

std::optional< Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::max_position

Positional constraints (only in Ruckig Pro)

◆ max_velocity

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_velocity

Kinematic constraints.

◆ min_acceleration

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

std::optional< Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_acceleration

◆ min_position

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

std::optional< Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_position

◆ min_velocity

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

std::optional< Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_velocity

◆ minimum_duration

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

std::optional<double> ruckig::InputParameter< DOFs, CustomVector >::minimum_duration

Optional minimum trajectory duration.

◆ per_dof_control_interface

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

std::optional< Vector<ControlInterface> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_control_interface

Per-DoF control_interface (overwrites global control_interface)

◆ per_dof_synchronization

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

std::optional< Vector<Synchronization> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_synchronization

Per-DoF synchronization (overwrites global synchronization)

◆ per_section_max_acceleration

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_acceleration

◆ per_section_max_jerk

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_jerk

◆ per_section_max_position

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_position

◆ per_section_max_velocity

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_velocity

Kinematic constraints for intermediate sections (between waypoints) (only in Ruckig Pro)

◆ per_section_min_acceleration

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_acceleration

◆ per_section_min_position

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_position

◆ per_section_min_velocity

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

std::optional< std::vector< Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_velocity

◆ per_section_minimum_duration

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

std::optional< std::vector<double> > ruckig::InputParameter< DOFs, CustomVector >::per_section_minimum_duration

Optional minimum trajectory duration for each intermediate sections (only in Ruckig Pro)

◆ synchronization

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

Synchronization ruckig::InputParameter< DOFs, CustomVector >::synchronization = Synchronization::Time

◆ target_acceleration

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_acceleration

◆ target_position

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_position

Target state.

◆ target_velocity

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

Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_velocity

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

/include/ruckig/input_parameter.hpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ InputParameter() [1/4]

◆ InputParameter() [2/4]

◆ InputParameter() [3/4]

◆ InputParameter() [4/4]

Member Function Documentation

◆ operator!=()

◆ operator=()

◆ scale()

◆ to_string()

◆ validate()

Member Data Documentation

◆ control_interface

◆ current_acceleration

◆ current_position

◆ current_velocity

◆ degrees_of_freedom

◆ duration_discretization

◆ enabled

◆ intermediate_positions

◆ interrupt_calculation_duration

◆ max_acceleration

◆ max_jerk

◆ max_position

◆ max_velocity

◆ min_acceleration

◆ min_position

◆ min_velocity

◆ minimum_duration

◆ per_dof_control_interface

◆ per_dof_synchronization

◆ per_section_max_acceleration

◆ per_section_max_jerk

◆ per_section_max_position

◆ per_section_max_velocity

◆ per_section_min_acceleration

◆ per_section_min_position

◆ per_section_min_velocity

◆ per_section_minimum_duration

◆ synchronization

◆ target_acceleration

◆ target_position

◆ target_velocity