Ruckig 0.10.1
Motion Generation for Robots and Machines
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Public Member Functions | Public Attributes | List of all members
ruckig::Trackig< DOFs, CustomVector > Class Template Reference

The main interface for the Trackig algorithm. More...

#include <trackig.hpp>

Public Member Functions

template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
 Trackig (double delta_time)
 
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
 Trackig (size_t dofs, double delta_time)
 
Result update (const TargetState< DOFs, CustomVector > &target_state, InputParameter< DOFs, CustomVector > &input, OutputParameter< DOFs, CustomVector > &output)
 
std::vector< OutputParameter< DOFs, CustomVector > > calculate_trajectory (const std::vector< TargetState< DOFs, CustomVector > > &trajectory, InputParameter< DOFs, CustomVector > &input)
 

Public Attributes

const size_t degrees_of_freedom
 
const double delta_time
 Time step between updates (cycle time) in [s].
 
double reactiveness {1.0}
 Parameter to tune the plan-ahead time of the controller [0.0, 1.0].
 
size_t look_ahead_cycles {1}
 Parameter to tune how many cycle to look a head (for calculating trajectories)
 
std::function< TargetState< DOFs, CustomVector >(const TargetState< DOFs, CustomVector > &, double)> prediction_model
 The model for predicting the kinematic state into the future, the default is integration with constant acceleration.
 

Detailed Description

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
class ruckig::Trackig< DOFs, CustomVector >

The main interface for the Trackig algorithm.

Constructor & Destructor Documentation

◆ Trackig() [1/2]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
template<size_t D = DOFs, typename std::enable_if<(D >=1), int >::type = 0>
ruckig::Trackig< DOFs, CustomVector >::Trackig ( double  delta_time)
inlineexplicit

◆ Trackig() [2/2]

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
template<size_t D = DOFs, typename std::enable_if<(D==0), int >::type = 0>
ruckig::Trackig< DOFs, CustomVector >::Trackig ( size_t  dofs,
double  delta_time 
)
inlineexplicit

Member Function Documentation

◆ calculate_trajectory()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::vector< OutputParameter< DOFs, CustomVector > > ruckig::Trackig< DOFs, CustomVector >::calculate_trajectory ( const std::vector< TargetState< DOFs, CustomVector > > &  trajectory,
InputParameter< DOFs, CustomVector > &  input 
)
inline

◆ update()

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
Result ruckig::Trackig< DOFs, CustomVector >::update ( const TargetState< DOFs, CustomVector > &  target_state,
InputParameter< DOFs, CustomVector > &  input,
OutputParameter< DOFs, CustomVector > &  output 
)
inline

Member Data Documentation

◆ degrees_of_freedom

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
const size_t ruckig::Trackig< DOFs, CustomVector >::degrees_of_freedom

◆ delta_time

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
const double ruckig::Trackig< DOFs, CustomVector >::delta_time

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

◆ look_ahead_cycles

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
size_t ruckig::Trackig< DOFs, CustomVector >::look_ahead_cycles {1}

Parameter to tune how many cycle to look a head (for calculating trajectories)

◆ prediction_model

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
std::function<TargetState<DOFs, CustomVector>(const TargetState<DOFs, CustomVector>&, double)> ruckig::Trackig< DOFs, CustomVector >::prediction_model

The model for predicting the kinematic state into the future, the default is integration with constant acceleration.

◆ reactiveness

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
double ruckig::Trackig< DOFs, CustomVector >::reactiveness {1.0}

Parameter to tune the plan-ahead time of the controller [0.0, 1.0].


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