Ruckig 0.15.0
Motion Generation for Robots and Machines
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Example 12: Custom Vector Type

C++

#include <iostream>
template<class T, size_t DOFs>
class MinimalVector {
T data[DOFs];
public:
MinimalVector() { }
MinimalVector(std::initializer_list<T> a) {
std::copy_n(a.begin(), DOFs, std::begin(data));
}
T operator[](size_t i) const {
return data[i];
}
T& operator[](size_t i) {
return data[i];
}
size_t size() const {
return DOFs;
}
bool operator==(const MinimalVector<T, DOFs>& rhs) const {
for (size_t dof = 0; dof < DOFs; ++dof) {
if (data[dof] != rhs[dof]) {
return false;
}
}
return true;
}
};
using namespace ruckig;
int main() {
// Create instances: the Ruckig OTG as well as input and output parameters
Ruckig<3, MinimalVector> otg(0.01); // control cycle
// 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:48
CustomVector< double, DOFs > target_position
Target (goal) state.
Definition input_parameter.hpp:111
CustomVector< double, DOFs > current_acceleration
Definition input_parameter.hpp:108
CustomVector< double, DOFs > current_velocity
Definition input_parameter.hpp:108
CustomVector< double, DOFs > max_velocity
Velocity limit.
Definition input_parameter.hpp:114
CustomVector< double, DOFs > current_position
Current (start) state.
Definition input_parameter.hpp:108
CustomVector< double, DOFs > max_jerk
Jerk limit.
Definition input_parameter.hpp:120
CustomVector< double, DOFs > target_velocity
Definition input_parameter.hpp:111
CustomVector< double, DOFs > target_acceleration
Definition input_parameter.hpp:111
CustomVector< double, DOFs > max_acceleration
Acceleration limit.
Definition input_parameter.hpp:117
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
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