ruckig::Ruckig< DOFs, CustomVector, throw_error > 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, CustomVector > &input, const Vector< double > &threshold_distance) const
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 for trajectory calculation and kinematic limits. More...
Result	calculate (const InputParameter< DOFs, CustomVector > &input, Trajectory< DOFs, CustomVector > &trajectory)
	Calculate a new trajectory for the given input. More...
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. More...
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. More...
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. More...

Public Attributes
Calculator< DOFs, CustomVector >	calculator
	Calculator for new trajectories. More...
const size_t	max_number_of_waypoints
	Max number of intermediate waypoints. More...
const size_t	degrees_of_freedom
	Degrees of freedom. More...
double	delta_time {0.0}
	Time step between updates (cycle time) in [s]. More...
int int	DOFs

Detailed Description

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>
class ruckig::Ruckig< DOFs, CustomVector, throw_error >

Main class for the Ruckig algorithm.

Member Function Documentation

calculate() [1/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

inline

Calculate a new trajectory for the given input.

calculate() [2/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::calculate ( const InputParameter< DOFs, CustomVector > &  input, Trajectory< DOFs, CustomVector > &  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, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

inline

update() [1/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

inline

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

update() [2/2]

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Result ruckig::Ruckig< DOFs, CustomVector, throw_error >::update ( const Trajectory< DOFs, CustomVector > &  trajectory, OutputParameter< DOFs, CustomVector > &  output  )

inline

Move along the given trajectory with step delta_time, starting from the current output.time.

validate_input()

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

bool ruckig::Ruckig< DOFs, CustomVector, throw_error >::validate_input ( const InputParameter< DOFs, CustomVector > &  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

calculator

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

Calculator<DOFs, CustomVector> ruckig::Ruckig< DOFs, CustomVector, throw_error >::calculator

Calculator for new trajectories.

degrees_of_freedom

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

const size_t ruckig::Ruckig< DOFs, CustomVector, throw_error >::degrees_of_freedom

Degrees of freedom.

delta_time

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

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

DOFs

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

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

max_number_of_waypoints

template<size_t DOFs = 0, template< class, size_t > class CustomVector = StandardVector, bool throw_error = false>

const size_t ruckig::Ruckig< DOFs, CustomVector, throw_error >::max_number_of_waypoints

Max number of intermediate waypoints.

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

• /include/ruckig/ruckig.hpp