Ruckig 0.6.5
Motion Generation for Robots and Machines
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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 |
Main class for the Ruckig algorithm.
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inline |
Calculate a new trajectory for the given input.
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inline |
Calculate a new trajectory for the given input and check for interruption.
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inline |
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inline |
Get the next output state (with step delta_time) along the calculated trajectory for the given input.
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inline |
Validate the input for trajectory calculation and kinematic limits.
const size_t ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::degrees_of_freedom |
double ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::delta_time {0.0} |
Time step between updates (cycle time) in [s].
int int ruckig::Ruckig< DOFs, throw_error, return_error_at_maximal_duration >::DOFs |