Example 06: Stop Trajectory

C++

#include <iostream>
 
#include <ruckig/ruckig.hpp>
 
 
using namespace ruckig;
 
int main() {
    // Create instances: the ruckig otg as well as input and output parameters
    Ruckig<3> otg(0.01);
    InputParameter<3> input;
    OutputParameter<3> 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;
    bool on_stop_trajectory = false;
    while (otg.update(input, output) == Result::Working) {
        std::cout << output.time << " | " << join(output.new_position) << std::endl;
 
        // Activate stop trajectory after 1s
        if (output.time >= 1.0 && !on_stop_trajectory) {
            std::cout << "Stop immediately." << std::endl;
            on_stop_trajectory = true;
 
            // Synchronization is disabled so that each DoF stops as fast as possible independently
            input.control_interface = ControlInterface::Velocity;
            input.synchronization = Synchronization::None;
            input.target_velocity = {0.0, 0.0, 0.0};
            input.target_acceleration = {0.0, 0.0, 0.0};
            input.max_jerk = {12.0, 10.0, 8.0};
        }
 
        output.pass_to_input(input);
    }
 
    std::cout << "Stop trajectory duration: " << output.trajectory.get_duration() << " [s]." << std::endl;
}

Python

from copy import copy
 
from ruckig import InputParameter, OutputParameter, Result, Ruckig, ControlInterface, Synchronization
 
 
if __name__ == '__main__':
    # Create instances: the Ruckig OTG as well as input and output parameters
    otg = Ruckig(3, 0.01)  # DoFs, control cycle
    inp = InputParameter(3)
    out = OutputParameter(3)
 
    inp.current_position = [0.0, 0.0, 0.5]
    inp.current_velocity = [0.0, -2.2, -0.5]
    inp.current_acceleration = [0.0, 2.5, -0.5]
 
    inp.target_position = [5.0, -2.0, -3.5]
    inp.target_velocity = [0.0, -0.5, -2.0]
    inp.target_acceleration = [0.0, 0.0, 0.5]
 
    inp.max_velocity = [3.0, 1.0, 3.0]
    inp.max_acceleration = [3.0, 2.0, 1.0]
    inp.max_jerk = [4.0, 3.0, 2.0]
 
    print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
 
    # Generate the trajectory within the control loop
    first_output, out_list, time_offsets = None, [], []
    on_stop_trajectory = False
    res = Result.Working
    while res == Result.Working:
        res = otg.update(inp, out)
 
        print('\t'.join([f'{out.time:0.3f}'] + [f'{p:0.3f}' for p in out.new_position]))
        out_list.append(copy(out))
        time_offsets.append(1.0 if on_stop_trajectory else 0.0)
 
        # Activate stop trajectory after 1s
        if out.time >= 1.0 and not on_stop_trajectory:
            print('Stop immediately!')
            on_stop_trajectory = True
 
            # Synchronization is disabled so that each DoF stops as fast as possible independently
            inp.control_interface = ControlInterface.Velocity
            inp.synchronization = Synchronization.No
            inp.target_velocity = [0.0, 0.0, 0.0]
            inp.target_acceleration = [0.0, 0.0, 0.0]
            inp.max_jerk = [12.0, 10.0, 8.0]
 
        out.pass_to_input(inp)
 
        if not first_output:
            first_output = copy(out)
 
    print(f'Calculation duration: {first_output.calculation_duration:0.1f} [µs]')
    print(f'Trajectory duration: {first_output.trajectory.duration:0.4f} [s]')
 
    # Plot the trajectory
    # from pathlib import Path
    # from plotter import Plotter
 
    # project_path = Path(__file__).parent.parent.absolute()
    # Plotter.plot_trajectory(project_path / 'examples' / '06_trajectory.pdf', otg, inp, out_list, plot_jerk=False, time_offsets=time_offsets)

Output Trajectory