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].

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

• /include/ruckig/trackig.hpp