Template Class OutputParameter

Defined in File output_parameter.hpp

Class Documentation

template<size_t DOFs, template<class, size_t> class CustomVector = StandardVector> class OutputParameter

Output of the Ruckig algorithm.

Public Functions

template<size_t D = DOFs, typename std::enable_if<(D >= 1), int>::type = 0> inline OutputParameter()

template<size_t D = DOFs, typename std::enable_if<(D == 0), int>::type = 0> inline OutputParameter(size_t dofs)

inline void pass_to_input(InputParameter<DOFs, CustomVector> &input) const

inline std::string to_string() const

Public Members

size_t degrees_of_freedom

Trajectory<DOFs, CustomVector> trajectory: Current trajectory.

Vector<double> new_position

Vector<double> new_velocity

Vector<double> new_acceleration

Vector<double> new_jerk

double time = {0.0}: Current time on trajectory.

size_t new_section = {0}: Index of the current section between two (possibly filtered) intermediate positions (only relevant in Ruckig Pro)

bool did_section_change = {false}: Was a new section reached in the last cycle? (only relevant in Ruckig Pro)

bool new_calculation = {false}: Was a new trajectory calculation performed in the last cycle?

bool was_calculation_interrupted = {false}: Was the trajectory calculation interrupted? (only in Ruckig Pro)

double calculation_duration: Computational duration of the last update call.