# This example shows the usage of intermediate waypoints. It will only work with Ruckig Pro or enabled Online API (e.g. default when installed by pip / PyPI).
from copy import copy
from pathlib import Path
from sys import path
# Path to the build directory including a file similar to 'ruckig.cpython-37m-x86_64-linux-gnu'.
build_path = Path(__file__).parent.absolute().parent / 'build'
path.insert(0, str(build_path))
from ruckig import InputParameter, OutputParameter, Result, Ruckig
if __name__ == '__main__':
# Create instances: the Ruckig OTG as well as input and output parameters
otg = Ruckig(3, 0.01, 10) # DoFs, control cycle rate, maximum number of intermediate waypoints for memory allocation
inp = InputParameter(3) # DoFs
out = OutputParameter(3, 10) # DoFs, maximum number of intermediate waypoints for memory allocation
inp.current_position = [0.2, 0, -0.3]
inp.current_velocity = [0, 0.2, 0]
inp.current_acceleration = [0, 0.6, 0]
inp.intermediate_positions = [
[1.4, -1.6, 1.0],
[-0.6, -0.5, 0.4],
[-0.4, -0.35, 0.0],
[0.8, 1.8, -0.1]
]
inp.target_position = [0.5, 1, 0]
from copy import copy
from pathlib import Path
from sys import path
# Path to the build directory including a file similar to 'ruckig.cpython-37m-x86_64-linux-gnu'.
build_path = Path(__file__).parent.absolute().parent / 'build'
path.insert(0, str(build_path))
from ruckig import InputParameter, OutputParameter, Result, Ruckig
if __name__ == '__main__':
otg = Ruckig(3, 0.01)
inp = InputParameter(3)
out = OutputParameter(3)
# Set input parameters
inp.current_position = [0.0, 0.0, 0.5]
inp.current_velocity = [0.0, -2.2, -0.5]
inp.current_acceleration = [0.0, 2.5, -0.5]
inp.target_position = [-5.0, -2.0, -3.5]
inp.target_velocity = [0.0, -0.5, -2.0]
inp.target_acceleration = [0.0, 0.0, 0.5]
inp.max_velocity = [3.0, 1.0, 3.0]
inp.max_acceleration = [3.0, 2.0, 1.0]
inp.max_jerk = [4.0, 3.0, 2.0]
# Set minimum duration (equals the trajectory duration when target velocity and acceleration are zero)
inp.minimum_duration = 5.0;
if __name__ == '__main__':
inp = InputParameter(3)
# inp.interface = InputParameter.Interface.Velocity
# inp.synchronization = InputParameter.TimeIfNecessary
# inp.duration_discretization = InputParameter.Discrete
inp.current_position = [0.5, -1, -1]
inp.current_velocity = [0, 0.2, 0]
inp.current_acceleration = [0, 1, 1]
inp.target_position = [1, -1, -1]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 1, 1]
inp.max_velocity = [2, 2, 2]
inp.max_acceleration = [2, 2, 2]
inp.max_jerk = [1, 1, 1]
# otg = Quintic(3, 0.005)
# otg = Smoothie(3, 0.005)
# otg = Reflexxes(3, 0.005)
otg = Ruckig(3, 0.005)
t_list, out_list = walk_through_trajectory(otg, inp)
# print(out_list[0].trajectory.get_position_extrema())
print(f'Calculation duration: {out_list[0].calculation_duration:0.1f} [µs]')
print(f'Trajectory duration: {out_list[0].trajectory.duration:0.4f} [s]')
plot_trajectory(t_list, out_list)
return out_list, time_offsets, time_offset
if __name__ == '__main__':
inp = InputParameter(3)
inp.current_position = [0, 0, 0]
inp.current_velocity = [0, 0, 0]
inp.current_acceleration = [0, 0, 0]
inp.target_position = [1, 1, 1]
inp.target_velocity = [0, 0, 0]
inp.target_acceleration = [0, 0, 0]
inp.max_velocity = [100, 100, 100]
inp.max_acceleration = [100, 100, 100]
inp.max_jerk = [1, 1, 1]
intermediate_waypoints = [(
[0.7, 0.2, 0.1],
[0.56, 0.1, 0.1],
[-0.3, 0, 0],
)]
otg = Ruckig(inp.degrees_of_freedom, 0.005)
out_list, time_offsets, duration = walk_through_trajectory(otg, inp, intermediate_waypoints)
print(f'Calculation duration: {out_list[0].calculation_duration:0.1f} [µs]')
print(f'Trajectory duration: {duration:0.6f} [s]')
Plotter.plot_trajectory('otg_multiple.png', otg, inp, out_list, plot_jerk=False, time_offsets=time_offsets)
from copy import copy
from pathlib import Path
from sys import path
# Path to the build directory including a file similar to 'ruckig.cpython-37m-x86_64-linux-gnu'.
build_path = Path(__file__).parent.absolute().parent / 'build'
path.insert(0, str(build_path))
from ruckig import InputParameter, OutputParameter, Result, Ruckig, ControlInterface
if __name__ == '__main__':
# Create instances: the Ruckig OTG as well as input and output parameters
otg = Ruckig(3, 0.01) # DoFs, control cycle
inp = InputParameter(3)
out = OutputParameter(3)
inp.control_interface = ControlInterface.Velocity
inp.current_position = [0.0, 0.0, 0.5]
inp.current_velocity = [3.0, -2.2, -0.5]
inp.current_acceleration = [0.0, 2.5, -0.5]
inp.target_velocity = [0.0, -0.5, -1.5]
inp.target_acceleration = [0.0, 0.0, 0.5]
inp.max_acceleration = [3.0, 2.0, 1.0]
inp.max_jerk = [6.0, 6.0, 4.0]
print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
0.1839756723363622, -0.4356283320280516, 0.7490399525818022
]
inp.current_acceleration = [-1.057769973808928, 0, -2.368645439140517]
inp.target_position = [
-4.928244836531066, -4.821780824003112, -8.20567952461017
]
inp.target_velocity = [0.1097319156272965, -0.9272874846270881, 0]
inp.target_acceleration = [0.03089046366221739, -0.9744054582899561, 0]
inp.max_velocity = [
6.144314006624488, 2.93258338415229, 0.1820021269527196
]
inp.max_acceleration = [
5.199401036221791, 1.848176490768948, 11.11168017805234
]
inp.max_jerk = [9.940940357283978, 10.46997753899755, 0.08166297169205029]
# otg = Quintic(3, 0.005)
# otg = Smoothie(3, 0.005)
# otg = Reflexxes(3, 0.005)
otg = Ruckig(3, 0.5)
t_list, out_list = walk_through_trajectory(otg, inp)
# print(out_list[0].trajectory.get_position_extrema())
print(
f'Calculation duration: {out_list[0].calculation_duration:0.1f} [µs]')
print(f'Trajectory duration: {out_list[0].trajectory.duration:0.4f} [s]')
plot_trajectory(t_list, out_list)
inp.current_acceleration = [0.0, 2.5, -0.5]
inp.target_position = [5.0, -2.0, -3.5]
inp.target_velocity = [0.0, -0.5, -2.0]
inp.target_acceleration = [0.0, 0.0, 0.5]
inp.max_velocity = [3.0, 1.0, 3.0]
inp.max_acceleration = [3.0, 2.0, 1.0]
inp.max_jerk = [4.0, 3.0, 2.0]
# Set different constraints for negative direction
inp.min_velocity = [-1.0, -0.5, -3.0]
inp.min_acceleration = [-2.0, -1.0, -2.0]
# We don't need to pass the control rate (cycle time) when using only offline features
otg = Ruckig(3)
trajectory = Trajectory(3)
# Calculate the trajectory in an offline manner
result = otg.calculate(inp, trajectory)
if result == Result.ErrorInvalidInput:
raise Exception('Invalid input!')
print(f'Trajectory duration: {trajectory.duration:0.4f} [s]')
new_time = 1.0
# Then, we can calculate the kinematic state at a given time
new_position, new_velocity, new_acceleration = trajectory.at_time(new_time)
print(f'Position at time {new_time:0.4f} [s]: {new_position}')