ruckig Namespace Reference

Classes
class	Block
	Which times are possible for synchronization?
struct	Bound
	Information about the extrema values. More...
struct	BrakeProfile
	Calculates (pre- or post-) profile to get current or final state below the limits. More...
class	Calculator
	Interface for the main calculator and its hyperparameters. More...
class	InputParameter
	Input of the Ruckig algorithm. More...
struct	MemoryRequirement
	Helper class to define the memory requirement when using intermediate waypoints (only in Ruckig Pro) More...
class	OutputParameter
	Output of the Ruckig algorithm. More...
class	Profile
	A single-dof kinematic profile with position, velocity, acceleration and jerk. More...
class	Ruckig
	Main interface for the Ruckig algorithm. More...
struct	RuckigError
	The base class for all exceptions. More...
class	TargetCalculator
	Calculation class for a state-to-state trajectory.
class	TargetState
	The kinematic target state for Trackig. More...
class	Trackig
	The main interface for the Trackig algorithm. More...
class	Trajectory
	The trajectory generated by the Ruckig algorithm. More...
class	WaypointsCalculator

Typedefs
typedef Profile::ReachedLimits	ReachedLimits
typedef Profile::Direction	Direction
typedef Profile::ControlSigns	ControlSigns
template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
using	RuckigThrow = Ruckig<DOFs, CustomVector, true>
template<class T , size_t DOFs>
using	StandardVector = typename std::conditional< DOFs >= 1, std::array<T, DOFs>, std::vector<T> >::type
	Vector data type based on the C++ standard library.
template<class T , size_t DOFs, size_t SIZE>
using	StandardSizeVector = typename std::conditional< DOFs >= 1, std::array<T, SIZE>, std::vector<T> >::type

Enumerations
enum class	ControlInterface { Position , Velocity }
	The control interface of the robotic system, either for position or velocity control. More...
enum class	Synchronization { Time , TimeIfNecessary , Phase , None }
	Synchronization strategy for multiple degrees of freedom (axes) More...
enum class	DurationDiscretization { Continuous , Discrete }
	Restrict allowed durations of the resulting trajectory. More...
enum class	TargetLimitViolation { ReturnError , Confine }
	Behaviour if the target state is outside the specified limits. More...
enum	Result {   Working = 0 , Finished = 1 , Paused = 2 , Error = -1 ,   ErrorInvalidInput = -100 , ErrorTrajectoryDuration = -101 , ErrorPositionalLimits = -102 , ErrorZeroLimits = -104 ,   ErrorExecutionTimeCalculation = -110 , ErrorSynchronizationCalculation = -111 }
	Result type of Ruckig's update function. More...
enum class	TrackigMode { Optimized , Fast }

Functions
template<class Vector >
std::string	join (const Vector &array, bool high_precision=false)
	Join a vector for easy printing (e.g. to std::cout)

Typedef Documentation

ControlSigns

typedef Profile::ControlSigns ruckig::ControlSigns

Direction

typedef Profile::Direction ruckig::Direction

ReachedLimits

typedef Profile::ReachedLimits ruckig::ReachedLimits

RuckigThrow

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>

using ruckig::RuckigThrow = Ruckig<DOFs, CustomVector, true>

StandardSizeVector

template<class T , size_t DOFs, size_t SIZE>

using ruckig::StandardSizeVector = typename std::conditional< DOFs >= 1, std::array<T, SIZE>, std::vector<T> >::type

StandardVector

template<class T , size_t DOFs>

using ruckig::StandardVector = typename std::conditional< DOFs >= 1, std::array<T, DOFs>, std::vector<T> >::type

Vector data type based on the C++ standard library.

Enumeration Type Documentation

ControlInterface

enum class ruckig::ControlInterface

strong

The control interface of the robotic system, either for position or velocity control.

Enumerator
Position	Position-control: Full control over the entire kinematic state (Default)
Velocity	Velocity-control: Ignores the current position, target position, and velocity limits.

DurationDiscretization

enum class ruckig::DurationDiscretization

strong

Restrict allowed durations of the resulting trajectory.

Enumerator
Continuous	Every trajectory synchronization duration is allowed (Default)
Discrete	The trajectory synchronization duration must be a multiple of the control cycle.

Result

enum ruckig::Result

Result type of Ruckig's update function.

Enumerator
Working	The trajectory is calculated normally.
Finished	The trajectory has reached its final position.
Paused	The speed parameter is zero currently.
Error	Unclassified error.
ErrorInvalidInput	Error in the input parameter.
ErrorTrajectoryDuration	The trajectory duration exceeds its numerical limits.
ErrorPositionalLimits	The trajectory exceeds the given positional limits (only in Ruckig Pro)
ErrorZeroLimits	The trajectory is not valid due to a conflict with zero limits.
ErrorExecutionTimeCalculation	Error during the extremel time calculation (Step 1)
ErrorSynchronizationCalculation	Error during the synchronization calculation (Step 2)

Synchronization

enum class ruckig::Synchronization

strong

Synchronization strategy for multiple degrees of freedom (axes)

Enumerator
Time	Always synchronize the DoFs to reach the target at the same time (Default)
TimeIfNecessary	Synchronize only when necessary (e.g. for non-zero target velocity or acceleration)
Phase	Phase synchronize the DoFs when this is possible, else fallback to "Time" strategy. Phase synchronization will result a straight-line trajectory.
None	Calculate every DoF independently.

TargetLimitViolation

enum class ruckig::TargetLimitViolation

strong

Behaviour if the target state is outside the specified limits.

Enumerator
ReturnError	Return (or throw) an error (Default)
Confine	Try to keep the trajectory within the limits if possible, else throw an error.

TrackigMode

enum class ruckig::TrackigMode

strong

Different modes of the Trackig algorithm

The Trackig algorithm has two different modes: One optimized for higher quality but slower computation time, and one for faster computation time but lower tracking quality. The fast mode is around 100x faster on average, and with 1000x faster worst calculation time. However, the fast mode currently does not support positional limits or synchronization.

Enumerator
Optimized	Optimized for tracking quality (Default)
Fast	Faster calculation time.

Function Documentation

join()

template<class Vector >

std::string ruckig::join ( const Vector & array, bool high_precision = false )

inline

Join a vector for easy printing (e.g. to std::cout)