Ruckig  0.4.0
Instantaneous Motion Generation
Public Attributes | List of all members
ruckig::OutputParameter< DOFs > Class Template Reference

Output type of Ruckig. More...

#include <output_parameter.hpp>

Public Attributes

size_t degrees_of_freedom
 
Trajectory< DOFs > trajectory
 Current trajectory. More...
 
Vector< double > new_position
 
Vector< double > new_velocity
 
Vector< double > new_acceleration
 
double time
 Current time on trajectory. More...
 
size_t new_section {0}
 Index of the current section between two intermediate positions (only relevant in Ruckig Pro) More...
 
bool did_section_change {false}
 Was an intermediate position reached in the last cycle? (only relevant in Ruckig Pro) More...
 
bool new_calculation {false}
 Was a new trajectory calculation performed in the last cycle? More...
 
bool was_calculation_interrupted {false}
 Was the trajectory calculation interrupted? (only in Ruckig Pro) More...
 
double calculation_duration
 Computational duration of the last update call. More...
 

Detailed Description

template<size_t DOFs>
class ruckig::OutputParameter< DOFs >

Output type of Ruckig.

Member Data Documentation

◆ calculation_duration

template<size_t DOFs>
double ruckig::OutputParameter< DOFs >::calculation_duration

Computational duration of the last update call.

◆ degrees_of_freedom

template<size_t DOFs>
size_t ruckig::OutputParameter< DOFs >::degrees_of_freedom

◆ did_section_change

template<size_t DOFs>
bool ruckig::OutputParameter< DOFs >::did_section_change {false}

Was an intermediate position reached in the last cycle? (only relevant in Ruckig Pro)

◆ new_acceleration

template<size_t DOFs>
Vector<double> ruckig::OutputParameter< DOFs >::new_acceleration

◆ new_calculation

template<size_t DOFs>
bool ruckig::OutputParameter< DOFs >::new_calculation {false}

Was a new trajectory calculation performed in the last cycle?

◆ new_position

template<size_t DOFs>
Vector<double> ruckig::OutputParameter< DOFs >::new_position

◆ new_section

template<size_t DOFs>
size_t ruckig::OutputParameter< DOFs >::new_section {0}

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

◆ new_velocity

template<size_t DOFs>
Vector<double> ruckig::OutputParameter< DOFs >::new_velocity

◆ time

template<size_t DOFs>
double ruckig::OutputParameter< DOFs >::time

Current time on trajectory.

◆ trajectory

template<size_t DOFs>
Trajectory<DOFs> ruckig::OutputParameter< DOFs >::trajectory

Current trajectory.

◆ was_calculation_interrupted

template<size_t DOFs>
bool ruckig::OutputParameter< DOFs >::was_calculation_interrupted {false}

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


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