(10) Dynamic Number of DoFs and Intermediate Waypoints

• C++

  // This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled cloud API.
   
  #include <ruckig/ruckig.hpp>
   
  #include "plotter.hpp"
   
   
  using namespace ruckig;
   
  int main() {
      double control_cycle = 0.01;
      size_t DOFs = 3;
      size_t max_number_of_waypoints = 10;  // for memory allocation
   
      // Create instances: the Ruckig trajectory generator as well as input and output parameters
      Ruckig<DynamicDOFs> ruckig(DOFs, control_cycle, max_number_of_waypoints);
      InputParameter<DynamicDOFs> input(DOFs);
      OutputParameter<DynamicDOFs> output(DOFs, max_number_of_waypoints);
   
      // Set input parameters
      input.current_position = {0.2, 0.0, -0.3};
      input.current_velocity = {0.0, 0.2, 0.0};
      input.current_acceleration = {0.0, 0.6, 0.0};
   
      input.intermediate_positions = {
          {1.4, -1.6, 1.0},
          {-0.6, -0.5, 0.4},
          {-0.4, -0.35, 0.0},
          {0.8, 1.8, -0.1}
      };
   
      input.target_position = {0.5, 1.0, 0.0};
      input.target_velocity = {0.2, 0.0, 0.3};
      input.target_acceleration = {0.0, 0.1, -0.1};
   
      input.max_velocity = {1.0, 2.0, 1.0};
      input.max_acceleration = {3.0, 2.0, 2.0};
      input.max_jerk = {6.0, 10.0, 20.0};
   
      std::cout << "t | position" << std::endl;
      double calculation_duration = 0.0;
      while (ruckig.update(input, output) == Result::Working) {
          std::cout << output.time << " | " << pretty_print(output.new_position) << std::endl;
   
          output.pass_to_input(input);
   
          if (output.new_calculation) {
              calculation_duration = output.calculation_duration;
          }
      }
   
      std::cout << "Reached target position in " << output.trajectory.get_duration() << " [s]." << std::endl;
      std::cout << "Calculation in " << calculation_duration << " [µs]." << std::endl;
  }

• Python

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

Output Trajectory