Example 8: Dynamic Number of DoFs

C++

#include <iostream>
 
#include <ruckig/ruckig.hpp>
 
 
using namespace ruckig;
 
int main() {
    // Create instances: the Ruckig OTG as well as input and output parameters
    size_t degrees_of_freedom = 3;
 
    Ruckig<DynamicDOFs> otg {degrees_of_freedom, 0.01};
    InputParameter<DynamicDOFs> input {degrees_of_freedom};
    OutputParameter<DynamicDOFs> output {degrees_of_freedom};
 
    // 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;
}

Python

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

Output Trajectory