Ruckig  0.4.0
Instantaneous Motion Generation
Example 8: Dynamic Number of DoFs

C++

#include <iostream>
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;
}
int main()
Definition: 1_position.cpp:8
Definition: block.hpp:12
@ Working
The trajectory is calculated normally.
Definition: input_parameter.hpp:16

Python

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

Output Trajectory