(12) Custom Vector Type

• C++

  #include <ruckig/ruckig.hpp>
   
  #include "plotter.hpp"
   
   
  template<class T, size_t DOFs>
  class MinimalVector {
      T data[DOFs];
   
  public:
      MinimalVector() { }
      MinimalVector(std::initializer_list<T> a) {
          std::copy_n(a.begin(), DOFs, std::begin(data));
      }
   
      T operator[](size_t i) const {
          return data[i];
      }
   
      T& operator[](size_t i) {
          return data[i];
      }
   
      size_t size() const {
          return DOFs;
      }
   
      bool operator==(const MinimalVector<T, DOFs>& rhs) const {
          for (size_t dof = 0; dof < DOFs; ++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<3, MinimalVector> ruckig(0.01);  // control cycle
      InputParameter<3, MinimalVector> input;
      OutputParameter<3, MinimalVector> 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;
      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