Ruckig 0.6.2
Motion Generation for Robots and Machines
Public Member Functions | Public Attributes | List of all members
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: