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

Output of the Ruckig algorithm. More...

#include <output_parameter.hpp>

Public Member Functions
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	OutputParameter ()
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	OutputParameter (size_t dofs)
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
	OutputParameter (size_t max_number_of_waypoints)
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
	OutputParameter (size_t dofs, size_t max_number_of_waypoints)
void	pass_to_input (InputParameter< DOFs, CustomVector > &input) const
std::string	to_string () const

Public Attributes
size_t	degrees_of_freedom
Trajectory< DOFs, CustomVector >	trajectory
	Current trajectory.
Vector< double >	new_position
Vector< double >	new_velocity
Vector< double >	new_acceleration
Vector< double >	new_jerk
double	time = 0.0
	Current time on trajectory.
size_t	new_section = 0
	Index of the current section between two (possibly filtered) intermediate positions (only relevant in Ruckig Pro)
bool	did_section_change = false
	Was a new section reached in the last cycle? (only relevant in Ruckig Pro)
bool	new_calculation = false
	Was a new trajectory calculation performed in the last cycle?
bool	was_calculation_interrupted = false
	Was the trajectory calculation interrupted? (only in Ruckig Pro)
double	calculation_duration
	Computational duration of the last update call.

Detailed Description

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

Output of the Ruckig algorithm.

Constructor & Destructor Documentation

OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( )

inline

OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  dofs )

inline

OutputParameter() [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::OutputParameter< DOFs, CustomVector >::OutputParameter ( size_t  max_number_of_waypoints )

inline

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

inline

Member Function Documentation

pass_to_input()

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

void ruckig::OutputParameter< DOFs, CustomVector >::pass_to_input ( InputParameter< DOFs, CustomVector > &  input ) const

inline

to_string()

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

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

inline

Member Data Documentation

calculation_duration

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

double ruckig::OutputParameter< DOFs, CustomVector >::calculation_duration

Computational duration of the last update call.

degrees_of_freedom

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

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

did_section_change

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

bool ruckig::OutputParameter< DOFs, CustomVector >::did_section_change = false

Was a new section reached in the last cycle? (only relevant in Ruckig Pro)

new_acceleration

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

Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_acceleration

new_calculation

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

bool ruckig::OutputParameter< DOFs, CustomVector >::new_calculation = false

Was a new trajectory calculation performed in the last cycle?

new_jerk

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

Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_jerk

new_position

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

Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_position

new_section

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

size_t ruckig::OutputParameter< DOFs, CustomVector >::new_section = 0

Index of the current section between two (possibly filtered) intermediate positions (only relevant in Ruckig Pro)

new_velocity

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

Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_velocity

time

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

double ruckig::OutputParameter< DOFs, CustomVector >::time = 0.0

Current time on trajectory.

trajectory

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

Trajectory<DOFs, CustomVector> ruckig::OutputParameter< DOFs, CustomVector >::trajectory

Current trajectory.

was_calculation_interrupted

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

bool ruckig::OutputParameter< DOFs, CustomVector >::was_calculation_interrupted = false

Was the trajectory calculation interrupted? (only in Ruckig Pro)

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

• /include/ruckig/output_parameter.hpp