#include <iostream>
std::cout << "t | position" << std::endl;
while (otg.update(input, output) == Result::Working) {
}
std::cout <<
"Trajectory duration: " << output.
trajectory.get_duration() <<
" [s]." << std::endl;
}
int main()
Definition 01_position.cpp:8
Output of the Ruckig algorithm.
Definition output_parameter.hpp:15
CustomVector< double, DOFs > new_position
New position values at the given time.
Definition output_parameter.hpp:35
double time
Current time on the trajectory.
Definition output_parameter.hpp:50
void pass_to_input(InputParameter< DOFs, CustomVector > &input) const
Copies the new output state to the current state of the input.
Definition output_parameter.hpp:123
Trajectory< DOFs, CustomVector > trajectory
Current trajectory.
Definition output_parameter.hpp:32
Main interface for the Ruckig algorithm.
Definition ruckig.hpp:25
std::string join(const Vector &array, bool high_precision=false)
Join a vector for easy printing (e.g. to std::cout)
Definition utils.hpp:40
from copy import copy
from ruckig import InputParameter, OutputParameter, Result, Ruckig
if __name__ == '__main__':
otg = Ruckig(3, 0.01)
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]
inp.minimum_duration = 5.0
print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
first_output, out_list = None, []
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))
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]')