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< PositionExtrema >	get_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

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

• /include/ruckig/trajectory.hpp