Example 11: Eigen Vector Type

C++

#include <iostream>
 
// Include Eigen before Ruckig
#include <Eigen/Core> // Version 3.4 or later
 
#include <ruckig/ruckig.hpp>
 
 
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
    InputParameter<3, EigenVector> input;
    OutputParameter<3, EigenVector> output;
 
    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 | p1 | p2 | p3" << std::endl;
    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);
    }
 
    std::cout << "Trajectory duration: " << output.trajectory.get_duration() << " [s]." << std::endl;
}

Python

# ---
#
# Nothing to see here, as the custom vector types don't affect the Python version.
# 
# ---

Output Trajectory