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

Ruckig 0.6.5

Motion Generation for Robots and Machines

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
const size_t	degrees_of_freedom

double	delta_time {0.0}
	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>

const 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>

double ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::delta_time {0.0}

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