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 Online API.
 
#include <iostream>
 
#include <ruckig/ruckig.hpp>
 
 
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};
    InputParameter<DynamicDOFs> input {DOFs};
    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 | p1 | p2 | p3" << std::endl;
    double calculation_duration {0.0};
    while (otg.update(input, output) == Result::Working) {
        auto& p = output.new_position;
        std::cout << output.time << " " << p[0] << " " << p[1] << " " << p[2] << 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;
}

Python

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

Output Trajectory