Ruckig 0.11.0
Motion Generation for Robots and Machines
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Namespaces | |
namespace | position |
namespace | velocity |
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 |
Internal interface for the main calculator and its hyperparameters. More... | |
class | CloudClient |
class | InputParameter |
Input of the Ruckig algorithm. 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 |
Calculation class for a trajectory along waypoints. | |
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 } |
enum class | Synchronization { Time , TimeIfNecessary , Phase , None } |
enum class | DurationDiscretization { Continuous , Discrete } |
enum | Result { Working = 0 , Finished = 1 , Error = -1 , ErrorInvalidInput = -100 , ErrorTrajectoryDuration = -101 , ErrorPositionalLimits = -102 , ErrorZeroLimits = -104 , ErrorExecutionTimeCalculation = -110 , ErrorSynchronizationCalculation = -111 } |
Result type of Ruckig's update function. More... | |
Functions | |
template<typename T > | |
T | pow2 (T v) |
template<class Vector > | |
std::string | join (const Vector &array, size_t size) |
Vector data type based on the Eigen matrix type. Eigen needs to be included seperately. | |
Variables | |
static const double | v_eps = 1e-12 |
static const double | a_eps = 1e-12 |
static const double | j_eps = 1e-12 |
static const double | p_precision = 1e-8 |
static const double | v_precision = 1e-8 |
static const double | a_precision = 1e-10 |
static const double | t_precision = 1e-12 |
static const double | eps = 1e-12 |
static const size_t | DynamicDOFs = 0 |
Constant for indicating a dynamic (run-time settable) number of DoFs. | |
static const double | eps = 2.2e-14 |
typedef Profile::Direction ruckig::Direction |
using ruckig::RuckigThrow = typedef Ruckig<DOFs, CustomVector, true> |
using ruckig::StandardSizeVector = typedef typename std::conditional< DOFs >= 1, std::array<T, SIZE>, std::vector<T> >::type |
using ruckig::StandardVector = typedef typename std::conditional< DOFs >= 1, std::array<T, DOFs>, std::vector<T> >::type |
Vector data type based on the C++ standard library.
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enum ruckig::Result |
Result type of Ruckig's update function.
Enumerator | |
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Working | The trajectory is calculated normally. |
Finished | The trajectory has reached its final position. |
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) |
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Vector data type based on the Eigen matrix type. Eigen needs to be included seperately.
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Constant for indicating a dynamic (run-time settable) number of DoFs.
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