Example 04: Online Waypoints Trajectory

C++

// This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled cloud API.
 
#include <iostream>
 
#include <ruckig/ruckig.hpp>
 
 
using namespace ruckig;
 
int main() {
    const double control_cycle = 0.01;
    const size_t DOFs = 3;
    const size_t max_number_of_waypoints = 10;  // for memory allocation
 
    // Create instances: the Ruckig OTG as well as input and output parameters
    Ruckig<DOFs> otg(control_cycle, max_number_of_waypoints);
    InputParameter<DOFs> input;
    OutputParameter<DOFs> output(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};
 
    input.interrupt_calculation_duration = 500; // [µs]
 
    std::cout << "t | position" << std::endl;
    double calculation_duration = 0.0;
    while (otg.update(input, output) == Result::Working) {
        if (output.new_calculation) {
            std::cout << "Updated the trajectory:" << std::endl;
            std::cout << "  Reached target position in " << output.trajectory.get_duration() << " [s]." << std::endl;
            std::cout << "  Calculation in " << output.calculation_duration << " [µs]." << std::endl;
        }
 
        std::cout << output.time << " | " << join(output.new_position) << std::endl;
 
        output.pass_to_input(input);
    }
}

Python

# This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled cloud API (e.g. default when installed by pip / PyPI).
 
from copy import copy
 
from ruckig import InputParameter, OutputParameter, Result, Ruckig
 
 
if __name__ == '__main__':
    # Create instances: the Ruckig OTG as well as input and output parameters
    otg = Ruckig(3, 0.01, 10)  # DoFs, control cycle rate, maximum number of intermediate waypoints for memory allocation
    inp = InputParameter(3)  # DoFs
    out = OutputParameter(3, 10)  # DoFs, maximum number of intermediate waypoints for memory allocation
 
    inp.current_position = [0.2, 0, -0.3]
    inp.current_velocity = [0, 0.2, 0]
    inp.current_acceleration = [0, 0.6, 0]
 
    inp.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],
    ]
 
    inp.target_position = [0.5, 1, 0]
    inp.target_velocity = [0.2, 0, 0.3]
    inp.target_acceleration = [0, 0.1, -0.1]
 
    inp.max_velocity = [1, 2, 1]
    inp.max_acceleration = [3, 2, 2]
    inp.max_jerk = [6, 10, 20]
 
    inp.interrupt_calculation_duration = 500  # [µs]
 
    print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
 
    # Generate the trajectory within the control loop
    out_list = []
    res = Result.Working
    while res == Result.Working:
        res = otg.update(inp, out)
 
        if out.new_calculation:
            print('Updated the trajectory:')
            print(f'  Calculation duration: {out.calculation_duration:0.1f} [µs]')
            print(f'  Trajectory duration: {out.trajectory.duration:0.4f} [s]')
 
        print('\t'.join([f'{out.time:0.3f}'] + [f'{p:0.3f}' for p in out.new_position]))
        out_list.append(copy(out))
 
        out.pass_to_input(inp)
 
    # Plot the trajectory
    # from pathlib import Path
    # from plotter import Plotter
 
    # project_path = Path(__file__).parent.parent.absolute()
    # Plotter.plot_trajectory(project_path / 'examples' / '04_trajectory.pdf', otg, inp, out_list, plot_jerk=False)

Output Trajectory