Ruckig 0.9.2
Motion Generation for Robots and Machines
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Example 12: Custom Vector Type

C++

#include <iostream>
template<class T, size_t DOFs>
T data[DOFs];
public:
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 | 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;
}
int main()
Definition: 10_dynamic_dofs_waypoints.cpp:10
Definition: 12_custom_vector_type.cpp:7
size_t size() const
Definition: 12_custom_vector_type.cpp:24
MinimalVector()
Definition: 12_custom_vector_type.cpp:11
T operator[](size_t i) const
Definition: 12_custom_vector_type.cpp:16
bool operator==(const MinimalVector< T, DOFs > &rhs) const
Definition: 12_custom_vector_type.cpp:28
Input type of Ruckig.
Definition: input_parameter.hpp:49
Vector< double > current_velocity
Definition: input_parameter.hpp:89
Vector< double > current_acceleration
Definition: input_parameter.hpp:89
Vector< double > max_jerk
Definition: input_parameter.hpp:95
Vector< double > target_velocity
Definition: input_parameter.hpp:92
Vector< double > max_acceleration
Definition: input_parameter.hpp:95
Vector< double > max_velocity
Definition: input_parameter.hpp:95
Vector< double > target_acceleration
Definition: input_parameter.hpp:92
Vector< double > current_position
Definition: input_parameter.hpp:89
Vector< double > target_position
Definition: input_parameter.hpp:92
Output type of Ruckig.
Definition: output_parameter.hpp:15
Vector< double > new_position
Definition: output_parameter.hpp:31
double time
Current time on trajectory.
Definition: output_parameter.hpp:34
Trajectory< DOFs, CustomVector > trajectory
Current trajectory.
Definition: output_parameter.hpp:28
Main class for the Ruckig algorithm.
Definition: ruckig.hpp:27
Definition: block.hpp:12

Python

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

Output Trajectory