#include <iostream>
#include <Eigen/Core>
Eigen::Vector3d start_position;
start_position << 0.0, 0.0, 0.5;
Eigen::Vector3d position_diff;
position_diff << 5.0, -2.0, -4.0;
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