(12) Custom Vector Type

• C++

  #include <algorithm>
  #include <memory>
   
  #include <ruckig/ruckig.hpp>
   
  #include "plotter.hpp"
   
   
  template<class T, size_t DOFs>
  class MinimalDofsVector {
      std::unique_ptr<T[]> data_;
      size_t n_ = 0;
   
  public:
      MinimalDofsVector() { }
      MinimalDofsVector(std::initializer_list<T> a): data_(new T[a.size()]), n_(a.size()) {
          std::copy_n(a.begin(), n_, data_.get());
      }
      MinimalDofsVector(const MinimalDofsVector& o): data_(o.n_ ? new T[o.n_] : nullptr), n_(o.n_) {
          std::copy_n(o.data_.get(), n_, data_.get());
      }
      MinimalDofsVector& operator=(MinimalDofsVector o) {
          std::swap(data_, o.data_);
          std::swap(n_, o.n_);
          return *this;
      }
   
      // Data access
      T* data() { return data_.get(); }
      const T* data() const { return data_.get(); }
   
      T operator[](size_t i) const { return data_[i]; }
      T& operator[](size_t i) { return data_[i]; }
   
      size_t size() const { return n_; }
   
      void resize(size_t n) {
          auto fresh = std::make_unique<T[]>(n);
          std::copy_n(data_.get(), std::min(n, n_), fresh.get());
          std::swap(data_, fresh);
          n_ = n;
      }
   
      bool operator==(const MinimalDofsVector<T, DOFs>& rhs) const {
          for (size_t dof = 0; dof < n_; ++dof) {
              if (data_[dof] != rhs[dof]) {
                  return false;
              }
          }
          return true;
      }
  };
   
   
  using namespace ruckig;
   
  int main() {
      // Create instances: the Ruckig trajectory generator as well as input and output parameters
      Ruckig<DynamicDOFs, MinimalDofsVector> ruckig(3, 0.01);  // control cycle
      InputParameter<DynamicDOFs, MinimalDofsVector> input(3);
      OutputParameter<DynamicDOFs, MinimalDofsVector> output(3);
   
      // 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 custom vector types don't affect the Python version.
  #
  # ---

Output Trajectory