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template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0> |
| Ruckig () |
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template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0> |
| Ruckig (double delta_time) |
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template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0> |
| Ruckig (double delta_time, size_t max_number_of_waypoints) |
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template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0> |
| Ruckig (size_t dofs) |
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template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0> |
| Ruckig (size_t dofs, double delta_time) |
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template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0> |
| Ruckig (size_t dofs, double delta_time, size_t max_number_of_waypoints) |
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void | reset () |
| Reset the instance (e.g. to force a new calculation in the next update)
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std::vector< Vector< double > > | filter_intermediate_positions (const InputParameter< DOFs, CustomVector > &input, const Vector< double > &threshold_distance) const |
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template<bool throw_validation_error = true> |
bool | validate_input (const InputParameter< DOFs, CustomVector > &input, bool check_current_state_within_limits=false, bool check_target_state_within_limits=true) const |
| Validate the input as well as the Ruckig instance for trajectory calculation.
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Result | calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory) |
| Calculate a new trajectory for the given input.
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Result | calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory, bool &was_interrupted) |
| Calculate a new trajectory for the given input and check for interruption.
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Result | update (const InputParameter< DOFs, CustomVector > &input, OutputParameter< DOFs, CustomVector > &output) |
| Get the next output state (with step delta_time) along the calculated trajectory for the given input.
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Result | update (const Trajectory< DOFs, CustomVector > &trajectory, OutputParameter< DOFs, CustomVector > &output) |
| Move along the given trajectory with step delta_time, starting from the current output.time.
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template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>
class ruckig::Ruckig< DOFs, CustomVector, throw_error >
Main interface for the Ruckig algorithm.