(09) Dynamic Number of DoFs

• 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
      size_t degrees_of_freedom = 3;
   
      Ruckig<DynamicDOFs> ruckig(degrees_of_freedom, 0.01);
      InputParameter<DynamicDOFs> input(degrees_of_freedom);
      OutputParameter<DynamicDOFs> output(degrees_of_freedom);
   
      // 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;
      while (ruckig.update(input, output) == Result::Working) {
          std::cout << output.time << " | " << pretty_print(output.new_position) << std::endl;
   
          output.pass_to_input(input);
      }
   
      std::cout << "Trajectory duration: " << output.trajectory.get_duration() << " [s]" << std::endl;
  }

• Python

  # ---
  #
  # Nothing to see here, as the Python version *always* uses a dynamic number of degrees of freedom.
  #
  # ---

Output Trajectory