3#include <ruckig/ruckig.hpp>
17template<
typename TargetType>
27template<
typename ControlSignalType,
typename TargetType>
41 relative_dynamics_factor_(relative_dynamics_factor) {}
48 auto relative_dynamics_factor =
51 input_parameter.max_velocity =
toStdD<7>(relative_dynamics_factor.acceleration() *
acc_lim);
55 if (relative_dynamics_factor.max_dynamics()) {
56 input_parameter.synchronization = ruckig::Synchronization::TimeIfNecessary;
59 if (
waypoint.minimum_time.has_value())
Robot * robot() const
Definition motion.hpp:114
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 positional waypoints in a time-optimal way. Works with arbitrary initial ...
Definition velocity_waypoint_motion.hpp:28
void setInputLimits(const VelocityWaypoint< TargetType > &waypoint, ruckig::InputParameter< 7 > &input_parameter) const override
Definition velocity_waypoint_motion.hpp:44
void extrapolateMotion(const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override
Definition velocity_waypoint_motion.hpp:64
VelocityWaypointMotion(std::vector< VelocityWaypoint< TargetType > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition velocity_waypoint_motion.hpp:36
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override=0
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
ControlSignalType
Type of control signal.
Definition control_signal_type.hpp:8
A waypoint with a target and optional parameters.
Definition waypoint_motion.hpp:38