Ruckig 0.6.5
Motion Generation for Robots and Machines
Example 9: Dynamic Number of DoFs and Intermediate Waypoints

C++

// This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled Online API.
#include <iostream>
using namespace ruckig;
int main() {
double control_cycle {0.01};
size_t DOFs {3};
size_t max_number_of_waypoints {10}; // for memory allocation
// Create instances: the Ruckig OTG as well as input and output parameters
Ruckig<DynamicDOFs> otg {DOFs, control_cycle, max_number_of_waypoints};
InputParameter<DynamicDOFs> input {DOFs};
OutputParameter<DynamicDOFs> output {DOFs, max_number_of_waypoints};
// Set input parameters
input.current_position = {0.2, 0.0, -0.3};
input.current_velocity = {0.0, 0.2, 0.0};
input.current_acceleration = {0.0, 0.6, 0.0};
input.intermediate_positions = {
{1.4, -1.6, 1.0},
{-0.6, -0.5, 0.4},
{-0.4, -0.35, 0.0},
{0.8, 1.8, -0.1}
};
input.target_position = {0.5, 1.0, 0.0};
input.target_velocity = {0.2, 0.0, 0.3};
input.target_acceleration = {0.0, 0.1, -0.1};
input.max_velocity = {1.0, 2.0, 1.0};
input.max_acceleration = {3.0, 2.0, 2.0};
input.max_jerk = {6.0, 10.0, 20.0};
std::cout << "t | p1 | p2 | p3" << std::endl;
double calculation_duration {0.0};
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);
if (output.new_calculation) {
calculation_duration = output.calculation_duration;
}
}
std::cout << "Reached target position in " << output.trajectory.get_duration() << " [s]." << std::endl;
std::cout << "Calculation in " << calculation_duration << " [┬Ás]." << 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 a dynamic number of degrees of freedom.
#
# ---

Output Trajectory