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simRuckigVel
Executes a call to the Ruckig online trajectory generator.
The Ruckig online trajectory generator provides instantaneous trajectory generation capabilities for
motion control systems. This function prepares a velocity-based trajectory generation object,
that can then be calculated with sim.ruckigStep. When this object
is not needed anymore, remove it with sim.ruckigRemove
C++ synopsis
int simRuckigVel(int dofs, double baseCycleTime, int flags, const double* currentPos,
const double* currentVel, const double* currentAccel, const double* maxAccel,
const double* maxJerk, const bool* selection, const double* targetVel,
double* reserved1, int* reserved2)
Arguments
- dofs: number of degrees of freedom (n).
- baseCycleTime: smallest expected cycle time. The cycle time should always be a multiple of baseCycleTime. Use a value of 0.0001 (0.1ms).
- flags: Ruckig flags. -1 for default flags.
- currentPos: current position (one value for each DoF)
- currentVel: current velocity (one value for each DoF)
- currentAccel: current acceleration (one value for each DoF)
- maxAccel: maximum allowed acceleration (one value for each DoF, i.e. [maxA_1 ... maxA_n]). If sim.ruckig_minaccel is specified in flags, then maxAccel should contain [maxA_1 ... maxA_n minA_1 ... minA_n]
- maxJerk: maximum allowed jerk (one value for each DoF)
- selection: selection vector (one value for each DoF). For a default behaviour, fill the vector with non-zero values.
- targetVel: target velocity (one value for each DoF)
- reserved1: reserved. Set to nullptr
- reserved2: reserved. Set to nullptr
Return
- A negative value in case of an error, otherwise the handle of the created object
See also:
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