Ruckig 0.10.1
Motion Generation for Robots and Machines
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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. | |
The main interface for the Trackig algorithm.
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inlineexplicit |
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inlineexplicit |
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inline |
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inline |
const size_t ruckig::Trackig< DOFs, CustomVector >::degrees_of_freedom |
const double ruckig::Trackig< DOFs, CustomVector >::delta_time |
Time step between updates (cycle time) in [s].
size_t ruckig::Trackig< DOFs, CustomVector >::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)> ruckig::Trackig< DOFs, CustomVector >::prediction_model |
The model for predicting the kinematic state into the future, the default is integration with constant acceleration.
double ruckig::Trackig< DOFs, CustomVector >::reactiveness {1.0} |
Parameter to tune the plan-ahead time of the controller [0.0, 1.0].