3#include <ruckig/ruckig.hpp>
17template <
typename TargetType>
27template <
typename ControlSignalType,
typename TargetType>
39 relative_dynamics_factor_(relative_dynamics_factor) {}
46 auto relative_dynamics_factor =
49 input_parameter.max_velocity =
toStdD<7>(relative_dynamics_factor.acceleration() *
acc_lim);
53 if (relative_dynamics_factor.max_dynamics()) {
54 input_parameter.synchronization = ruckig::Synchronization::TimeIfNecessary;
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:128
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:42
VelocityWaypointMotion(std::vector< VelocityWaypoint< TargetType > > waypoints, const RelativeDynamicsFactor &relative_dynamics_factor=1.0)
Definition velocity_waypoint_motion.hpp:36
virtual std::tuple< Vector7d, Vector7d, Vector7d > getDesiredState(const RobotState &robot_state) const =0
std::tuple< Vector7d, Vector7d, Vector7d > getAbsoluteInputLimits() const override=0
void extrapolateMotion(const RobotState &robot_state, const franka::Duration &time_step, const ruckig::InputParameter< 7 > &input_parameter, ruckig::OutputParameter< 7 > &output_parameter) const override
Definition velocity_waypoint_motion.hpp:61
A motion following multiple waypoints in a time-optimal way. Works with arbitrary initial conditions.
Definition waypoint_motion.hpp:53
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
Full state of the robot.
Definition robot_state.hpp:20
A waypoint with a target and optional parameters.
Definition waypoint_motion.hpp:33