3#include <ruckig/ruckig.hpp>
19template <
typename TargetType>
31template <
typename ControlSignalType,
typename TargetType>
44 bool return_when_finished =
true)
46 relative_dynamics_factor_(relative_dynamics_factor) {}
53 auto relative_dynamics_factor =
56 input_parameter.max_velocity =
toStdD<7>(relative_dynamics_factor.velocity() *
vel_lim);
60 if (relative_dynamics_factor.max_dynamics()) {
61 input_parameter.synchronization = ruckig::Synchronization::TimeIfNecessary;
Robot * robot() const
Definition motion.hpp:114
A motion following multiple positional waypoints in a time-optimal way. Works with arbitrary initial ...
Definition position_waypoint_motion.hpp:32
void extrapolateMotion(const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override
Definition position_waypoint_motion.hpp:68
void setInputLimits(const PositionWaypoint< TargetType > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override
Definition position_waypoint_motion.hpp:49
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override=0
PositionWaypointMotion(std::vector< PositionWaypoint< TargetType > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0, bool return_when_finished=true)
Definition position_waypoint_motion.hpp:42
Relative dynamics factors.
Definition relative_dynamics_factor.hpp:13
RelativeDynamicsFactor relative_dynamics_factor()
Returns the current global relative dynamics factor of the robot.
Definition robot.cpp:136
A motion following multiple waypoints in a time-optimal way. Works with arbitrary initial conditions.
Definition waypoint_motion.hpp:60
Definition dynamics_limit.cpp:8
std::array< double, dims > toStdD(const Eigen::Matrix< double, dims, 1 > &vector)
Definition util.hpp:18
ReferenceType
Enum class for reference types.
Definition reference_type.hpp:10
ControlSignalType
Type of control signal.
Definition control_signal_type.hpp:8
A position waypoint with a target and optional parameters.
Definition position_waypoint_motion.hpp:20
ReferenceType reference_type
Definition position_waypoint_motion.hpp:21
A waypoint with a target and optional parameters.
Definition waypoint_motion.hpp:38
RelativeDynamicsFactor relative_dynamics_factor
Definition waypoint_motion.hpp:41