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class | Block |
| Which times are possible for synchronization?
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class | BrakeProfile |
| Calculates (pre- or post-) profile to get current or final state below the limits. More...
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class | Calculator |
| Internal interface for the main calculator and its hyperparameters. More...
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class | CloudClient |
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class | InputParameter |
| Input of the Ruckig algorithm. More...
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class | OutputParameter |
| Output of the Ruckig algorithm. More...
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struct | PositionExtrema |
| Information about the position extrema. More...
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class | PositionFirstOrderStep1 |
| Mathematical equations for Step 1 in first-order position interface: Extremal profiles.
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class | PositionFirstOrderStep2 |
| Mathematical equations for Step 2 in first-order position interface: Time synchronization.
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class | PositionSecondOrderStep1 |
| Mathematical equations for Step 1 in second-order position interface: Extremal profiles.
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class | PositionSecondOrderStep2 |
| Mathematical equations for Step 2 in second-order position interface: Time synchronization.
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class | PositionThirdOrderStep1 |
| Mathematical equations for Step 1 in third-order position interface: Extremal profiles.
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class | PositionThirdOrderStep2 |
| Mathematical equations for Step 2 in third-order position interface: Time synchronization.
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class | Profile |
| A single-dof kinematic profile with position, velocity, acceleration and jerk. More...
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class | Ruckig |
| Main interface for the Ruckig algorithm. More...
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struct | RuckigError |
| The base class for all exceptions. More...
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class | TargetCalculator |
| Calculation class for a state-to-state trajectory.
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class | TargetState |
| The kinematic target state for Trackig. More...
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class | Trackig |
| The main interface for the Trackig algorithm. More...
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class | Trajectory |
| Interface for the generated trajectory. More...
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class | VelocitySecondOrderStep1 |
| Mathematical equations for Step 1 in second-order velocity interface: Extremal profiles.
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class | VelocitySecondOrderStep2 |
| Mathematical equations for Step 2 in second-order velocity interface: Time synchronization.
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class | VelocityThirdOrderStep1 |
| Mathematical equations for Step 1 in third-order velocity interface: Extremal profiles.
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class | VelocityThirdOrderStep2 |
| Mathematical equations for Step 2 in third-order velocity interface: Time synchronization.
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class | WaypointsCalculator |
| Calculation class for a trajectory along waypoints.
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template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector> |
using | RuckigThrow = Ruckig< DOFs, CustomVector, true > |
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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.
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template<class T , size_t DOFs, size_t SIZE> |
using | StandardSizeVector = typename std::conditional< DOFs >=1, std::array< T, SIZE >, std::vector< T > >::type |
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template<typename T > |
T | pow2 (T v) |
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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.
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std::tuple< double, double, double > | integrate (double t, double p0, double v0, double a0, double j) |
| Integrate with constant jerk for duration t. Returns new position, new velocity, and new acceleration.
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double | v_at_t (double v0, double a0, double j, double t) |
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double | v_at_a_zero (double v0, double a0, double j) |
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