sim.ruckigPos

Executes a call to the Ruckig online trajectory generator. The Ruckig online trajectory generator provides instantaneous trajectory generation capabilities for motion control systems. This function prepares a position-based trajectory generation object, that can then be calculated with sim.ruckigStep. When this object is not needed anymore, remove it with sim.ruckigRemove

Synopsis

int handle = sim.ruckigPos(int dofs, float baseCycleTime, int flags, list currentPosVelAccel, 
                           list maxVelAccelJerk, list selection, list targetPosVel)

int handle = sim.ruckigPos(int dofs, float baseCycleTime, int flags, float[] currentPosVelAccel, 
                           float[] maxVelAccelJerk, int[] selection, float[] targetPosVel)

Arguments

dofs: number of degrees of freedom (n).
baseCycleTime: smallest expected cycle time. The cycle time should always be a multiple of baseCycleTime. Use a value of 0.0001 (0.1ms).
flags: Ruckig flags. -1 for default flags.
currentPosVelAccel: current position, velocity and acceleration: [pos_1 ... pos_n vel_1 ... vel_n accel_1 ... accel_n] (one value for each DoF)
maxVelAccelJerk: maximum allowed velocity, acceleration and jerk: [maxV_1 ... maxV_n maxA_1 ... maxA_n maxJ_1 ... maxJ_n]. If sim.ruckig_minvel is specified in flags, then maxVelAccelJerk should contain following additional values: [minV_1 ... minV_n]. If sim.ruckig_minaccel is specified in flags, then maxVelAccelJerk should contain following additional values: [minA_1 ... minA_n]
selection: selection vector (one value for each DoF). For a default behaviour, fill the vector with non-zero values.
targetPosVel: target position and velocity: [tPos_1 ... tPos_n tVel_1 ... tVel_n]

Return values

handle: the handle to the created object