#include <iostream>
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};
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};
std::cout << "t | p1 | p2 | p3" << std::endl;
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
@ Working
The trajectory is calculated normally.
Definition: input_parameter.hpp:16