sim.ruckigStep

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 steps forward a trajectory generation algorithm previously prepared via sim.ruckigPos or sim.ruckigVel

Synopsis

int result, list newPosVelAccel, float synchronizationTime = sim.ruckigStep(int handle, 
                                                                            float cycleTime)

int result, float[] newPosVelAccel, float synchronizationTime = sim.ruckigStep(int handle, 
                                                                               float cycleTime)

Arguments

handle: handle of the object created via sim.ruckigPos or sim.ruckigVel.
cycleTime: cycle time or simulation step. Should always be a multiple of the base cycle time

Return values

result: return value of the update function in the motion library:
- 1: Result::Finished (final state reached)
- 0: Result::Working (final state not yet reached)
- -100: Result::ErrorInvalidInput
- -101: Result::ErrorTrajectoryDuration
- -110: Result::ErrorExecutionTimeCalculation
- -111: Result::ErrorSynchronizationCalculation
newPosVelAccel: new positions, velocities and accelerations, i.e. [p0 ... pn v0 ... vn a0 ... an]