Ruckig  0.4.0
Instantaneous Motion Generation
Public Member Functions | Public Attributes | Friends | List of all members
ruckig::Trajectory< DOFs > Class Template Reference

Interface for the generated trajectory. More...

#include <trajectory.hpp>

Public Member Functions

int bool return_error_at_maximal_duration Result calculate (const InputParameter< DOFs > &input, double delta_time, bool &was_interrupted)
 
template<bool throw_error, bool return_error_at_maximal_duration>
Result continue_calculation (const InputParameter< DOFs > &input, double delta_time, bool &was_interrupted)
 Continue the trajectory calculation. More...
 
void at_time (double time, Vector< double > &new_position, Vector< double > &new_velocity, Vector< double > &new_acceleration) const
 
void at_time (double time, Vector< double > &new_position, Vector< double > &new_velocity, Vector< double > &new_acceleration, size_t &new_section) const
 Get the kinematic state and current section at a given time. More...
 
double get_duration () const
 Get the duration of the (synchronized) trajectory. More...
 
std::vector< double > get_intermediate_durations () const
 Get the durations when the intermediate waypoints are reached. More...
 
Vector< double > get_independent_min_durations () const
 Get the minimum duration of each independent DoF. More...
 
Vector< PositionExtremaget_position_extrema ()
 Get the min/max values of the position for each DoF. More...
 
bool get_first_time_at_position (size_t dof, double position, double &time) const
 

Public Attributes

size_t degrees_of_freedom
 

Friends

template<size_t >
class Reflexxes
 
template<size_t , bool , bool >
class Ruckig
 

Detailed Description

template<size_t DOFs>
class ruckig::Trajectory< DOFs >

Interface for the generated trajectory.

Member Function Documentation

◆ at_time() [1/2]

template<size_t DOFs>
void ruckig::Trajectory< DOFs >::at_time ( double  time,
Vector< double > &  new_position,
Vector< double > &  new_velocity,
Vector< double > &  new_acceleration 
) const
inline

Get the kinematic state at a given time The Python wrapper takes time as an argument, and returns new_position, new_velocity, and new_acceleration instead.

◆ at_time() [2/2]

template<size_t DOFs>
void ruckig::Trajectory< DOFs >::at_time ( double  time,
Vector< double > &  new_position,
Vector< double > &  new_velocity,
Vector< double > &  new_acceleration,
size_t &  new_section 
) const
inline

Get the kinematic state and current section at a given time.

◆ calculate()

template<size_t DOFs>
int bool return_error_at_maximal_duration Result ruckig::Trajectory< DOFs >::calculate ( const InputParameter< DOFs > &  input,
double  delta_time,
bool &  was_interrupted 
)
inline

◆ continue_calculation()

template<size_t DOFs>
template<bool throw_error, bool return_error_at_maximal_duration>
Result ruckig::Trajectory< DOFs >::continue_calculation ( const InputParameter< DOFs > &  input,
double  delta_time,
bool &  was_interrupted 
)
inline

Continue the trajectory calculation.

◆ get_duration()

template<size_t DOFs>
double ruckig::Trajectory< DOFs >::get_duration ( ) const
inline

Get the duration of the (synchronized) trajectory.

◆ get_first_time_at_position()

template<size_t DOFs>
bool ruckig::Trajectory< DOFs >::get_first_time_at_position ( size_t  dof,
double  position,
double &  time 
) const
inline

Get the time that this trajectory passes a specific position of a given DoF the first time If the position is passed, this method returns true, otherwise false The Python wrapper takes dof and position as arguments and returns time (or None) instead

◆ get_independent_min_durations()

template<size_t DOFs>
Vector<double> ruckig::Trajectory< DOFs >::get_independent_min_durations ( ) const
inline

Get the minimum duration of each independent DoF.

◆ get_intermediate_durations()

template<size_t DOFs>
std::vector<double> ruckig::Trajectory< DOFs >::get_intermediate_durations ( ) const
inline

Get the durations when the intermediate waypoints are reached.

◆ get_position_extrema()

template<size_t DOFs>
Vector<PositionExtrema> ruckig::Trajectory< DOFs >::get_position_extrema ( )
inline

Get the min/max values of the position for each DoF.

Friends And Related Function Documentation

◆ Reflexxes

template<size_t DOFs>
template<size_t >
friend class Reflexxes
friend

◆ Ruckig

template<size_t DOFs>
template<size_t , bool , bool >
friend class Ruckig
friend

Member Data Documentation

◆ degrees_of_freedom

template<size_t DOFs>
size_t ruckig::Trajectory< DOFs >::degrees_of_freedom

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