ruckig::Profile Class Reference

The state profile for position, velocity, acceleration and jerk for a single DoF. More...

#include <profile.hpp>

Public Types
enum class	ReachedLimits {   ACC0_ACC1_VEL , VEL , ACC0 , ACC1 ,   ACC0_ACC1 , ACC0_VEL , ACC1_VEL , NONE }
enum class	Direction { UP , DOWN }
enum class	JerkSigns { UDDU , UDUD }

Public Member Functions
template<JerkSigns jerk_signs, ReachedLimits limits>
bool	check_for_velocity (double jf, double aMax, double aMin)
template<JerkSigns jerk_signs, ReachedLimits limits>
bool	check_for_velocity_with_timing (double, double jf, double aMax, double aMin)
template<JerkSigns jerk_signs, ReachedLimits limits>
bool	check_for_velocity_with_timing (double tf, double jf, double aMax, double aMin, double jMax)
void	set_boundary_for_velocity (double p0_new, double v0_new, double a0_new, double vf_new, double af_new)
template<JerkSigns jerk_signs, ReachedLimits limits, bool set_limits = false>
bool	check (double jf, double vMax, double vMin, double aMax, double aMin)
template<JerkSigns jerk_signs, ReachedLimits limits>
bool	check_with_timing (double, double jf, double vMax, double vMin, double aMax, double aMin)
template<JerkSigns jerk_signs, ReachedLimits limits>
bool	check_with_timing (double tf, double jf, double vMax, double vMin, double aMax, double aMin, double jMax)
void	set_boundary (const Profile &profile)
void	set_boundary (double p0_new, double v0_new, double a0_new, double pf_new, double vf_new, double af_new)
PositionExtrema	get_position_extrema () const
bool	get_first_state_at_position (double pt, double &time, double &vt, double &at, double offset=0.0) const
std::string	to_string () const

Static Public Member Functions
static void	check_position_extremum (double t_ext, double t_sum, double t, double p, double v, double a, double j, PositionExtrema &ext)
static void	check_step_for_position_extremum (double t_sum, double t, double p, double v, double a, double j, PositionExtrema &ext)

Public Attributes
std::array< double, 7 >	t
std::array< double, 7 >	t_sum
std::array< double, 7 >	j
std::array< double, 8 >	a
std::array< double, 8 >	v
std::array< double, 8 >	p
BrakeProfile	brake
	Brake sub-profiles. More...
BrakeProfile	accel
double	pf
	Target (final) kinematic state. More...
double	vf
double	af
enum ruckig::Profile::ReachedLimits	limits
enum ruckig::Profile::Direction	direction
enum ruckig::Profile::JerkSigns	jerk_signs
double	polynomial_root
	Helper variable for faster calculation. More...

Detailed Description

The state profile for position, velocity, acceleration and jerk for a single DoF.

Member Enumeration Documentation

Direction

enum class ruckig::Profile::Direction

strong

Enumerator
UP
DOWN

JerkSigns

enum class ruckig::Profile::JerkSigns

strong

Enumerator
UDDU
UDUD

ReachedLimits

enum class ruckig::Profile::ReachedLimits

strong

Enumerator
ACC0_ACC1_VEL
VEL
ACC0
ACC1
ACC0_ACC1
ACC0_VEL
ACC1_VEL
NONE

Member Function Documentation

check()

template<JerkSigns jerk_signs, ReachedLimits limits, bool set_limits = false>

bool ruckig::Profile::check ( double  jf, double  vMax, double  vMin, double  aMax, double  aMin  )

inline

check_for_velocity()

template<JerkSigns jerk_signs, ReachedLimits limits>

bool ruckig::Profile::check_for_velocity ( double  jf, double  aMax, double  aMin  )

inline

check_for_velocity_with_timing() [1/2]

template<JerkSigns jerk_signs, ReachedLimits limits>

bool ruckig::Profile::check_for_velocity_with_timing ( double  tf, double  jf, double  aMax, double  aMin, double  jMax  )

inline

check_for_velocity_with_timing() [2/2]

template<JerkSigns jerk_signs, ReachedLimits limits>

bool ruckig::Profile::check_for_velocity_with_timing ( double  , double  jf, double  aMax, double  aMin  )

inline

check_position_extremum()

static void ruckig::Profile::check_position_extremum ( double  t_ext, double  t_sum, double  t, double  p, double  v, double  a, double  j, PositionExtrema &  ext  )

inlinestatic

check_step_for_position_extremum()

static void ruckig::Profile::check_step_for_position_extremum ( double  t_sum, double  t, double  p, double  v, double  a, double  j, PositionExtrema &  ext  )

inlinestatic

check_with_timing() [1/2]

template<JerkSigns jerk_signs, ReachedLimits limits>

bool ruckig::Profile::check_with_timing ( double  tf, double  jf, double  vMax, double  vMin, double  aMax, double  aMin, double  jMax  )

inline

check_with_timing() [2/2]

template<JerkSigns jerk_signs, ReachedLimits limits>

bool ruckig::Profile::check_with_timing ( double  , double  jf, double  vMax, double  vMin, double  aMax, double  aMin  )

inline

get_first_state_at_position()

bool ruckig::Profile::get_first_state_at_position ( double  pt, double &  time, double &  vt, double &  at, double  offset = 0.0  ) const

inline

get_position_extrema()

PositionExtrema ruckig::Profile::get_position_extrema ( ) const

inline

set_boundary() [1/2]

void ruckig::Profile::set_boundary ( const Profile &  profile )

inline

set_boundary() [2/2]

void ruckig::Profile::set_boundary ( double  p0_new, double  v0_new, double  a0_new, double  pf_new, double  vf_new, double  af_new  )

inline

set_boundary_for_velocity()

void ruckig::Profile::set_boundary_for_velocity ( double  p0_new, double  v0_new, double  a0_new, double  vf_new, double  af_new  )

inline

to_string()

std::string ruckig::Profile::to_string ( ) const

inline

Member Data Documentation

a

std::array<double, 8> ruckig::Profile::a

accel

BrakeProfile ruckig::Profile::accel

af

double ruckig::Profile::af

brake

BrakeProfile ruckig::Profile::brake

Brake sub-profiles.

direction

enum ruckig::Profile::Direction ruckig::Profile::direction

j

std::array<double, 7> ruckig::Profile::j

jerk_signs

enum ruckig::Profile::JerkSigns ruckig::Profile::jerk_signs

limits

enum ruckig::Profile::ReachedLimits ruckig::Profile::limits

p

std::array<double, 8> ruckig::Profile::p

pf

double ruckig::Profile::pf

Target (final) kinematic state.

polynomial_root

double ruckig::Profile::polynomial_root

Helper variable for faster calculation.

t

std::array<double, 7> ruckig::Profile::t

t_sum

std::array<double, 7> ruckig::Profile::t_sum

v

std::array<double, 8> ruckig::Profile::v

vf

double ruckig::Profile::vf

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

• /include/ruckig/profile.hpp