Ruckig 0.14.0
Motion Generation for Robots and Machines
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Example 11: Eigen Vector Type

C++

#include <iostream>
// Include Eigen before Ruckig
#include <Eigen/Core> // Version 3.4 or later
using namespace ruckig;
int main() {
// Create instances: the Ruckig OTG as well as input and output parameters
Ruckig<3, EigenVector> otg(0.01); // control cycle
Eigen::Vector3d start_position;
start_position << 0.0, 0.0, 0.5; // Eigen 3.4 also supports construction via an initializer list...
Eigen::Vector3d position_diff;
position_diff << 5.0, -2.0, -4.0;
// Set input parameters
input.current_position = start_position;
input.current_velocity = {0.0, -2.2, -0.5};
input.current_acceleration = {0.0, 2.5, -0.5};
input.target_position = start_position + position_diff;
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
CustomVector< double, DOFs > target_position
Target (goal) state.
Definition input_parameter.hpp:109
CustomVector< double, DOFs > current_acceleration
Definition input_parameter.hpp:106
CustomVector< double, DOFs > current_velocity
Definition input_parameter.hpp:106
CustomVector< double, DOFs > max_velocity
Velocity limit.
Definition input_parameter.hpp:112
CustomVector< double, DOFs > current_position
Current (start) state.
Definition input_parameter.hpp:106
CustomVector< double, DOFs > max_jerk
Jerk limit.
Definition input_parameter.hpp:118
CustomVector< double, DOFs > target_velocity
Definition input_parameter.hpp:109
CustomVector< double, DOFs > target_acceleration
Definition input_parameter.hpp:109
CustomVector< double, DOFs > max_acceleration
Acceleration limit.
Definition input_parameter.hpp:115
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:125
Trajectory< DOFs, CustomVector > trajectory
Current trajectory.
Definition output_parameter.hpp:32
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 custom vector types don't affect the Python version.
#
# ---

Output Trajectory