(06) Stop Trajectory

• C++

  #include <ruckig/ruckig.hpp>
   
  #include "plotter.hpp"
   
   
  using namespace ruckig;
   
  int main() {
      // Create instances: the Ruckig trajectory generator as well as input and output parameters
      Ruckig<3> ruckig(0.01);
      InputParameter<3> input;
      OutputParameter<3> output;
   
      // Set input parameters
      input.current_position = {0.0, 0.0, 0.5};
      input.current_velocity = {0.0, -2.2, -0.5};
      input.current_acceleration = {0.0, 2.5, -0.5};
   
      input.target_position = {5.0, -2.0, -3.5};
      input.target_velocity = {0.0, -0.5, -2.0};
      input.target_acceleration = {0.0, 0.0, 0.5};
   
      input.max_velocity = {3.0, 1.0, 3.0};
      input.max_acceleration = {3.0, 2.0, 1.0};
      input.max_jerk = {4.0, 3.0, 2.0};
   
      // Generate the trajectory within the control loop
      std::cout << "t | position" << std::endl;
      bool on_stop_trajectory = false;
      while (ruckig.update(input, output) == Result::Working) {
          std::cout << output.time << " | " << pretty_print(output.new_position) << std::endl;
   
          // Activate stop trajectory after 1s
          if (output.time >= 1.0 && !on_stop_trajectory) {
              std::cout << "Stop immediately." << std::endl;
              on_stop_trajectory = true;
   
              // Synchronization is disabled so that each DoF stops as fast as possible independently
              input.control_interface = ControlInterface::Velocity;
              input.synchronization = Synchronization::None;
              input.target_velocity = {0.0, 0.0, 0.0};
              input.target_acceleration = {0.0, 0.0, 0.0};
              input.max_jerk = {12.0, 10.0, 8.0};
          }
   
          output.pass_to_input(input);
      }
   
      std::cout << "Stop trajectory duration: " << output.trajectory.get_duration() << " [s]." << std::endl;
  }

• Python

  from copy import copy
   
  from ruckig import InputParameter, OutputParameter, Result, Ruckig, ControlInterface, Synchronization
   
   
  if __name__ == '__main__':
      # Create instances: the Ruckig OTG as well as input and output parameters
      otg = Ruckig(3, 0.01)  # DoFs, control cycle
      inp = InputParameter(3)
      out = OutputParameter(3)
   
      inp.current_position = [0.0, 0.0, 0.5]
      inp.current_velocity = [0.0, -2.2, -0.5]
      inp.current_acceleration = [0.0, 2.5, -0.5]
   
      inp.target_position = [5.0, -2.0, -3.5]
      inp.target_velocity = [0.0, -0.5, -2.0]
      inp.target_acceleration = [0.0, 0.0, 0.5]
   
      inp.max_velocity = [3.0, 1.0, 3.0]
      inp.max_acceleration = [3.0, 2.0, 1.0]
      inp.max_jerk = [4.0, 3.0, 2.0]
   
      print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
   
      # Generate the trajectory within the control loop
      first_output, out_list, time_offsets = None, [], []
      on_stop_trajectory = False
      res = Result.Working
      while res == Result.Working:
          res = otg.update(inp, out)
   
          print('\t'.join([f'{out.time:0.3f}'] + [f'{p:0.3f}' for p in out.new_position]))
          out_list.append(copy(out))
          time_offsets.append(1.0 if on_stop_trajectory else 0.0)
   
          # Activate stop trajectory after 1s
          if out.time >= 1.0 and not on_stop_trajectory:
              print('Stop immediately!')
              on_stop_trajectory = True
   
              # Synchronization is disabled so that each DoF stops as fast as possible independently
              inp.control_interface = ControlInterface.Velocity
              inp.synchronization = Synchronization.No
              inp.target_velocity = [0.0, 0.0, 0.0]
              inp.target_acceleration = [0.0, 0.0, 0.0]
              inp.max_jerk = [12.0, 10.0, 8.0]
   
          out.pass_to_input(inp)
   
          if not first_output:
              first_output = copy(out)
   
      print(f'Calculation duration: {first_output.calculation_duration:0.1f} [µs]')
      print(f'Trajectory duration: {first_output.trajectory.duration:0.4f} [s]')
   
      # Plot the trajectory
      # from pathlib import Path
      # from plotter import Plotter
   
      # project_path = Path(__file__).parent.parent.absolute()
      # Plotter.plot_trajectory(project_path / 'examples' / '06_trajectory.pdf', otg, inp, out_list, plot_jerk=False, time_offsets=time_offsets)

Output Trajectory