(11) Eigen Vector Type

• C++

  // Include Eigen before Ruckig
  #include <Eigen/Core> // Version 3.4 or later
   
  #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, EigenVector> ruckig(0.01);  // control cycle
      InputParameter<3, EigenVector> input;
      OutputParameter<3, EigenVector> output;
   
      Eigen::Vector3d start_position;
      start_position << 0.0, 0.0, 0.5; // Eigen 3.4 also supports construction via an initializer list...
   
      Eigen::Vector3d position_diff;
      position_diff << 5.0, -2.0, -4.0;
   
      // Set input parameters
      input.current_position = start_position;
      input.current_velocity = {0.0, -2.2, -0.5};
      input.current_acceleration = {0.0, 2.5, -0.5};
   
      input.target_position = start_position + position_diff;
      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 custom vector types don't affect the Python version.
  #
  # ---

Output Trajectory