Ruckig 0.10.0
Motion Generation for Robots and Machines
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Output type of Ruckig. 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) | |
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. | |
Output type of Ruckig.
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double ruckig::OutputParameter< DOFs, CustomVector >::calculation_duration |
Computational duration of the last update call.
size_t ruckig::OutputParameter< DOFs, CustomVector >::degrees_of_freedom |
bool ruckig::OutputParameter< DOFs, CustomVector >::did_section_change {false} |
Was a new section reached in the last cycle? (only relevant in Ruckig Pro)
Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_acceleration |
bool ruckig::OutputParameter< DOFs, CustomVector >::new_calculation {false} |
Was a new trajectory calculation performed in the last cycle?
Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_jerk |
Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_position |
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)
Vector<double> ruckig::OutputParameter< DOFs, CustomVector >::new_velocity |
double ruckig::OutputParameter< DOFs, CustomVector >::time {0.0} |
Current time on trajectory.
Trajectory<DOFs, CustomVector> ruckig::OutputParameter< DOFs, CustomVector >::trajectory |
Current trajectory.
bool ruckig::OutputParameter< DOFs, CustomVector >::was_calculation_interrupted {false} |
Was the trajectory calculation interrupted? (only in Ruckig Pro)