Ruckig 0.9.2
Motion Generation for Robots and Machines
|
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... | |
The main interface for the Trackig algorithm.
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].