Ruckig 0.9.3
Motion Generation for Robots and Machines
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utils.hpp File Reference
#include <array>
#include <string>
#include <sstream>
#include <iomanip>
#include <tuple>
#include <type_traits>
#include <vector>


namespace  ruckig


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. More...
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


template<class Vector >
std::string ruckig::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 > ruckig::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...


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