Ruckig 0.9.2
Motion Generation for Robots and Machines
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#include <input_parameter.hpp>
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 |
Vector< double > | current_velocity |
Vector< double > | current_acceleration |
Vector< double > | target_position |
Vector< double > | target_velocity |
Vector< double > | target_acceleration |
Vector< double > | max_velocity |
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) More... | |
std::optional< std::vector< Vector< double > > > | per_section_max_velocity |
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< Vector< double > > | max_position |
std::optional< Vector< double > > | min_position |
Vector< bool > | enabled |
Is the DoF considered for calculation? More... | |
std::optional< Vector< ControlInterface > > | per_dof_control_interface |
Per-DoF control_interface (overwrites global control_interface) More... | |
std::optional< Vector< Synchronization > > | per_dof_synchronization |
Per-DoF synchronization (overwrites global synchronization) More... | |
std::optional< double > | minimum_duration |
Optional minimum trajectory duration. More... | |
std::optional< std::vector< double > > | per_section_minimum_duration |
Optional minimum trajectory duration for each intermediate sections (only in Ruckig Pro) More... | |
std::optional< double > | interrupt_calculation_duration |
Input type of Ruckig.
ControlInterface ruckig::InputParameter< DOFs, CustomVector >::control_interface {ControlInterface::Position} |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_acceleration |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_position |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::current_velocity |
size_t ruckig::InputParameter< DOFs, CustomVector >::degrees_of_freedom |
DurationDiscretization ruckig::InputParameter< DOFs, CustomVector >::duration_discretization {DurationDiscretization::Continuous} |
Vector<bool> ruckig::InputParameter< DOFs, CustomVector >::enabled |
Is the DoF considered for calculation?
std::vector<Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::intermediate_positions |
Intermediate waypoints (only in Ruckig Pro)
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.
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_acceleration |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_jerk |
std::optional<Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::max_position |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::max_velocity |
std::optional<Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_acceleration |
std::optional<Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_position |
std::optional<Vector<double> > ruckig::InputParameter< DOFs, CustomVector >::min_velocity |
std::optional<double> ruckig::InputParameter< DOFs, CustomVector >::minimum_duration |
Optional minimum trajectory duration.
std::optional<Vector<ControlInterface> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_control_interface |
Per-DoF control_interface (overwrites global control_interface)
std::optional<Vector<Synchronization> > ruckig::InputParameter< DOFs, CustomVector >::per_dof_synchronization |
Per-DoF synchronization (overwrites global synchronization)
std::optional<std::vector<Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_acceleration |
std::optional<std::vector<Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_jerk |
std::optional<std::vector<Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_max_velocity |
std::optional<std::vector<Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_acceleration |
std::optional<std::vector<Vector<double> > > ruckig::InputParameter< DOFs, CustomVector >::per_section_min_velocity |
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 ruckig::InputParameter< DOFs, CustomVector >::synchronization {Synchronization::Time} |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_acceleration |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_position |
Vector<double> ruckig::InputParameter< DOFs, CustomVector >::target_velocity |