def walk_through_trajectory(otg, inp):
out_list = []
out = OutputParameter(otg.degrees_of_freedom, 10)
time_offset = 0.0
time_offsets = []
res = Result.Working
while res == Result.Working:
res = otg.update(inp, out)
out_list.append(copy(out))
out.pass_to_input(inp)
time_offset += out.time if out.new_calculation else 0.0
time_offsets.append(copy(time_offset))
return out_list, time_offsets, time_offset
def walk_through_trajectory(otg, inp):
out_list = []
out = OutputParameter(inp.degrees_of_freedom)
res = Result.Working
while res == Result.Working:
res = otg.update(inp, out)
inp.current_position = out.new_position
inp.current_velocity = out.new_velocity
inp.current_acceleration = out.new_acceleration
out_list.append(copy(out))
return out_list
def walk_through_trajectory(otg, inp, intermediate_targets):
t_list, out_list = [], []
out = OutputParameter(3)
old_target = inp.target_position, inp.target_velocity, inp.target_acceleration
intermediate_targets.append(old_target)
time_offset = 0.0
for inp.target_position, inp.target_velocity, inp.target_acceleration in intermediate_targets:
res = Result.Working
while res == Result.Working:
res = otg.update(inp, out)
inp.current_position = out.new_position
inp.current_velocity = out.new_velocity
inp.current_acceleration = out.new_acceleration
t_list.append(time_offset + out.time)
out_list.append(copy(out))
time_offset += out.trajectory.duration
return t_list, out_list, time_offset
def walk_through_trajectory(otg, inp, print_table=True):
t_list, out_list = [], []
out = OutputParameter(3)
res = Result.Working
old_acc = 0
print_dof = 0
while res == Result.Working:
res = otg.update(inp, out)
inp.current_position = out.new_position
inp.current_velocity = out.new_velocity
inp.current_acceleration = out.new_acceleration
if print_table:
jerk = (old_acc - out.new_acceleration[print_dof]) / otg.delta_time
old_acc = out.new_acceleration[print_dof]
# print(str(out.time) + '\t' + str(inp.current_position[print_dof]) + '\t' + str(inp.current_velocity[print_dof]) + '\t' + str(inp.current_acceleration[print_dof]) + '\t' + str(jerk))
# print(str(inp.current_position[0]) + '\t' + str(inp.current_position[1]))
t_list.append(out.time)
out_list.append(copy(out))
return t_list, out_list
def walk_through_trajectory(otg, inp, waypoints):
out_list = []
out = OutputParameter(inp.degrees_of_freedom)
waypoints.append((inp.target_position, inp.target_velocity, inp.target_acceleration))
time_offset = 0.0
time_offsets = []
for waypoint in waypoints:
res = Result.Working
while res == Result.Working:
inp.target_position, inp.target_velocity, inp.target_acceleration = waypoint
res = otg.update(inp, out)
inp.current_position = out.new_position
inp.current_velocity = out.new_velocity
inp.current_acceleration = out.new_acceleration
time_offsets.append(copy(time_offset))
out_list.append(copy(out))
time_offset += out_list[-1].trajectory.duration
return out_list, time_offsets, time_offset
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;
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]
inp.target_velocity = [0.2, 0, 0.3]
inp.target_acceleration = [0, 0.1, -0.1]
if __name__ == '__main__':
inp = InputParameter(3)
inp.current_position = [0.2, 0, -1]
inp.current_velocity = [0, 0.2, 0]
inp.current_acceleration = [0, 1, 0]
inp.target_position = [0, -1, -1]
inp.target_velocity = [0.2, 0, 0]
inp.target_acceleration = [0, 0.1, -0.1]
inp.max_velocity = [2, 1, 1]
inp.max_acceleration = [0.2, 2, 2]
inp.max_jerk = [3, 4, 5]
otg = Ruckig(3, 0.05)
out = OutputParameter(3)
first_output = None
print('\t'.join(['t'] + [str(i) for i in range(otg.degrees_of_freedom)]))
res = Result.Working
while res == Result.Working:
res = otg.update(inp, out)
print('\t'.join([f'{out.time:0.3f}'] + [f'{p:0.3f}' for p in out.new_position]))
inp.current_position = out.new_position
inp.current_velocity = out.new_velocity
inp.current_acceleration = out.new_acceleration
if not first_output: