Ruckig 0.9.0
Motion Generation for Robots and Machines
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Example 07: Minimum Trajectory Duration

C++

#include <iostream>
using namespace ruckig;
int main() {
// Create instances: the Ruckig OTG as well as input and output parameters
Ruckig<3> 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};
// Set minimum duration (equals the trajectory duration when target velocity and acceleration are zero)
input.minimum_duration = 5.0;
// 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_eigen_vector_type.cpp:11
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
std::optional< double > minimum_duration
Optional minimum trajectory duration.
Definition: input_parameter.hpp:118
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: directory.hpp:13

Python

from copy import copy
from pathlib import Path
from sys import path
# Path to the build directory including a file similar to 'ruckig.cpython-37m-x86_64-linux-gnu'.
build_path = Path(__file__).parent.absolute().parent / 'build'
path.insert(0, str(build_path))
from ruckig import InputParameter, OutputParameter, Result, Ruckig
if __name__ == '__main__':
otg = Ruckig(3, 0.01)
inp = InputParameter(3)
out = OutputParameter(3)
# Set input parameters
inp.current_position = [0.0, 0.0, 0.5]
inp.current_velocity = [0.0, -2.2, -0.5]
inp.current_acceleration = [0.0, 2.5, -0.5]
inp.target_position = [-5.0, -2.0, -3.5]
inp.target_velocity = [0.0, -0.5, -2.0]
inp.target_acceleration = [0.0, 0.0, 0.5]
inp.max_velocity = [3.0, 1.0, 3.0]
inp.max_acceleration = [3.0, 2.0, 1.0]
inp.max_jerk = [4.0, 3.0, 2.0]
# Set minimum duration (equals the trajectory duration when target velocity and acceleration are zero)
inp.minimum_duration = 5.0;
print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
# Generate the trajectory within the control loop
first_output, out_list = None, []
res = Result.Working
while res == Result.Working:
res = otg.update(inp, out)
print('\t'.join([f'{out.time:0.3f}'] + [f'{p:0.3f}' for p in out.new_position]))
out_list.append(copy(out))
out.pass_to_input(inp)
if not first_output:
first_output = copy(out)
print(f'Calculation duration: {first_output.calculation_duration:0.1f} [┬Ás]')
print(f'Trajectory duration: {first_output.trajectory.duration:0.4f} [s]')
# Plot the trajectory
# path.insert(0, str(Path(__file__).parent.absolute().parent / 'test'))
# from plotter import Plotter
# Plotter.plot_trajectory(Path(__file__).parent.absolute() / '7_trajectory.pdf', otg, inp, out_list, plot_jerk=False)

Output Trajectory