Ruckig 0.8.7
Motion Generation for Robots and Machines
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 Attributes

const size_t degrees_of_freedom
 
const double delta_time
 Time step between updates (cycle time) in [s]. More...
 
double reactiveness {1.0}
 Parameter to tune the plan-ahead time of the controller [0.0, 1.0]. More...
 
size_t look_ahead_cycles {1}
 Parameter to tune how many cycle to look a head (for calculating trajectories) More...
 
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. More...
 

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.

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: