Ruckig 0.14.0
Motion Generation for Robots and Machines
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Example 10: Dynamic Number of DoFs and Intermediate Waypoints

C++

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