Ruckig 0.11.0
Motion Generation for Robots and Machines
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Namespaces | Classes | Typedefs | Enumerations | Functions | Variables
ruckig Namespace Reference

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 >
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 Documentation

◆ ControlSigns

◆ Direction

◆ ReachedLimits

◆ RuckigThrow

template<size_t DOFs, template< class, size_t > class CustomVector = StandardVector>
using ruckig::RuckigThrow = typedef Ruckig<DOFs, CustomVector, true>

◆ StandardSizeVector

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

◆ StandardVector

template<class T , size_t DOFs>
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.

Enumeration Type Documentation

◆ ControlInterface

enum class ruckig::ControlInterface
strong
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
Enumerator
Continuous 

Every trajectory synchronization duration is allowed (Default)

Discrete 

The trajectory synchronization duration must be a multiple of the control cycle.

◆ Result

Result type of Ruckig's update function.

Enumerator
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)

◆ Synchronization

enum class ruckig::Synchronization
strong
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.

Function Documentation

◆ join()

template<class Vector >
std::string ruckig::join ( const Vector &  array,
size_t  size 
)
inline

Vector data type based on the Eigen matrix type. Eigen needs to be included seperately.

◆ pow2()

template<typename T >
T ruckig::pow2 ( v)
inline

Variable Documentation

◆ a_eps

const double ruckig::a_eps = 1e-12
static

◆ a_precision

const double ruckig::a_precision = 1e-10
static

◆ DynamicDOFs

const size_t ruckig::DynamicDOFs = 0
static

Constant for indicating a dynamic (run-time settable) number of DoFs.

◆ eps [1/2]

const double ruckig::eps = 1e-12
static

◆ eps [2/2]

const double ruckig::eps = 2.2e-14
static

◆ j_eps

const double ruckig::j_eps = 1e-12
static

◆ p_precision

const double ruckig::p_precision = 1e-8
static

◆ t_precision

const double ruckig::t_precision = 1e-12
static

◆ v_eps

const double ruckig::v_eps = 1e-12
static

◆ v_precision

const double ruckig::v_precision = 1e-8
static