Ruckig 0.9.0
Motion Generation for Robots and Machines
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Classes | Typedefs | Enumerations | Functions | Variables
ruckig Namespace Reference

Classes

class  Block
 Which times are possible for synchronization? More...
 
class  BrakeProfile
 Calculates (pre- or post-) profile to get current or final state below the limits. More...
 
class  Calculator
 Calculation interface. More...
 
class  InputParameter
 Input type of Ruckig. More...
 
struct  License
 
struct  LicenseError
 
class  LicenseVerifier
 
class  OutputParameter
 Output type of Ruckig. More...
 
struct  PositionExtrema
 Information about the position extrema. More...
 
class  PositionStep1
 Mathematical equations for Step 1 in position interface: Extremal profiles. More...
 
class  PositionStep2
 Mathematical equations for Step 2 in position interface: Time synchronization. More...
 
class  Profile
 The state profile for position, velocity, acceleration and jerk for a single DoF. More...
 
class  Ruckig
 Main class for the Ruckig algorithm. 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
 Interface for the generated trajectory. More...
 
class  VelocityStep1
 Mathematical equations for Step 1 in velocity interface: Extremal profiles. More...
 
class  VelocityStep2
 Mathematical equations for Step 2 in velocity interface: Time synchronization. More...
 
class  WaypointsCalculator
 Calculation class for a trajectory along waypoints.
 

Typedefs

using Limits = Profile::Limits
 
using JerkSigns = Profile::JerkSigns
 
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. More...
 
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  Result {
  Working = 0 , Finished = 1 , Error = -1 , ErrorInvalidInput = -100 ,
  ErrorTrajectoryDuration = -101 , ErrorPositionalLimits = -102 , ErrorExecutionTimeCalculation = -110 , ErrorSynchronizationCalculation = -111
}
 Result type of Ruckig's update function. More...
 
enum class  ControlInterface { Position , Velocity }
 
enum class  Synchronization { Time , TimeIfNecessary , Phase , None }
 
enum class  DurationDiscretization { Continuous , Discrete }
 

Functions

std::optional< std::filesystem::path > get_home_directory ()
 
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. More...
 
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. More...
 
double v_at_t (double v0, double a0, double j, double t)
 
double v_at_a_zero (double v0, double a0, double j)
 

Variables

static constexpr size_t DynamicDOFs {0}
 Constant for indicating a dynamic (run-time settable) number of DoFs. More...
 

Typedef Documentation

◆ JerkSigns

◆ Limits

◆ 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 

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)

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

◆ get_home_directory()

std::optional< std::filesystem::path > ruckig::get_home_directory ( )
inline

◆ integrate()

std::tuple< double, double, double > ruckig::integrate ( double  t,
double  p0,
double  v0,
double  a0,
double  j 
)
inline

Integrate with constant jerk for duration t. Returns new position, new velocity, and new acceleration.

◆ 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

◆ v_at_a_zero()

double ruckig::v_at_a_zero ( double  v0,
double  a0,
double  j 
)
inline

◆ v_at_t()

double ruckig::v_at_t ( double  v0,
double  a0,
double  j,
double  t 
)
inline

Variable Documentation

◆ DynamicDOFs

constexpr size_t ruckig::DynamicDOFs {0}
staticconstexpr

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