ruckig::InputParameter< DOFs, CustomVector > Class Template Reference

Input type of Ruckig. 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<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
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
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)
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< std::vector< Vector< double > > >	per_section_max_position
std::optional< std::vector< Vector< double > > >	per_section_min_position
std::optional< Vector< double > >	max_position
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

Detailed Description

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

Input type of Ruckig.

Constructor & Destructor Documentation

InputParameter() [1/2]

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() [2/2]

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

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

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_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

max_velocity

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

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

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

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_velocity

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

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

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

• /include/ruckig/input_parameter.hpp