Ruckig 0.14.0
Motion Generation for Robots and Machines
Loading...
Searching...
No Matches
Example 09: Dynamic Number of DoFs

C++

#include <iostream>
using namespace ruckig;
int main() {
// Create instances: the Ruckig OTG as well as input and output parameters
size_t degrees_of_freedom = 3;
Ruckig<DynamicDOFs> otg(degrees_of_freedom, 0.01);
InputParameter<DynamicDOFs> input(degrees_of_freedom);
OutputParameter<DynamicDOFs> output(degrees_of_freedom);
// 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 (otg.update(input, output) == Result::Working) {
std::cout << output.time << " | " << join(output.new_position) << std::endl;
output.pass_to_input(input);
}
std::cout << "Trajectory duration: " << output.trajectory.get_duration() << " [s]" << std::endl;
}
int main()
Definition 01_position.cpp:8
Input of the Ruckig algorithm.
Definition input_parameter.hpp:44
Output of the Ruckig algorithm.
Definition output_parameter.hpp:15
Main interface for the Ruckig algorithm.
Definition ruckig.hpp:29
Definition block.hpp:13
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

Python

# ---
#
# Nothing to see here, as the Python version *always* uses a dynamic number of degrees of freedom.
#
# ---

Output Trajectory