ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration > Class Template Reference

Main class for the Ruckig algorithm. More...

#include <ruckig.hpp>

Public Member Functions
std::vector< Vector< double > >	filter_intermediate_positions (const InputParameter< DOFs > &input, const Vector< double > &threshold_distance) const
bool	validate_input (const InputParameter< DOFs > &input, bool check_current_state_within_limits=false, bool check_target_state_within_limits=true) const
	Validate the input for trajectory calculation and kinematic limits. More...
Result	calculate (const InputParameter< DOFs > &input, Trajectory< DOFs > &trajectory)
	Calculate a new trajectory for the given input. More...
Result	calculate (const InputParameter< DOFs > &input, Trajectory< DOFs > &trajectory, bool &was_interrupted)
	Calculate a new trajectory for the given input and check for interruption. More...
Result	update (const InputParameter< DOFs > &input, OutputParameter< DOFs > &output)
	Get the next output state (with step delta_time) along the calculated trajectory for the given input. More...

Public Attributes
size_t	degrees_of_freedom
const double	delta_time
	Time step between updates (cycle time) in [s]. More...
int int	DOFs

Detailed Description

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>
class ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >

Main class for the Ruckig algorithm.

Member Function Documentation

calculate() [1/2]

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

Result ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::calculate ( const InputParameter< DOFs > &  input, Trajectory< DOFs > &  trajectory  )

inline

Calculate a new trajectory for the given input.

calculate() [2/2]

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

Result ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::calculate ( const InputParameter< DOFs > &  input, Trajectory< DOFs > &  trajectory, bool &  was_interrupted  )

inline

Calculate a new trajectory for the given input and check for interruption.

filter_intermediate_positions()

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

std::vector< Vector< double > > ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::filter_intermediate_positions ( const InputParameter< DOFs > &  input, const Vector< double > &  threshold_distance  ) const

inline

update()

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

Result ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::update ( const InputParameter< DOFs > &  input, OutputParameter< DOFs > &  output  )

inline

Get the next output state (with step delta_time) along the calculated trajectory for the given input.

validate_input()

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

bool ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::validate_input ( const InputParameter< DOFs > &  input, bool  check_current_state_within_limits = false, bool  check_target_state_within_limits = true  ) const

inline

Validate the input for trajectory calculation and kinematic limits.

Member Data Documentation

degrees_of_freedom

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

size_t ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::degrees_of_freedom

delta_time

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

const double ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::delta_time

Time step between updates (cycle time) in [s].

DOFs

template<size_t DOFs = 0, bool throw_error = false, bool return_error_at_maximal_duration = true>

int int ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::DOFs

---

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

• /include/ruckig/ruckig.hpp