simRuckigStep

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

C++ synopsis

int simRuckigStep(int handle, double cycleTime, double* newPos, double* newVel, double* newAccel, double* syncTime, double* reserved1, int* reserved2)

Arguments

• handle: handle of the object created via simRuckigPos or simRuckigVel.
• cycleTime: cycle time or simulation step. Should always be a multiple of the base cycle time
• newPos: new position
• newVel: new velocity
• newAccel: new acceleration
• syncTime: synchronization time (output). This is the time needed to reach the desired state. This time does not include the cycle time of the current call to sim.RuckigStep)
• reserved1: reserved. Set to nullptr
• reserved2: reserved. Set to nullptr

Return

• -1 or -2 in case of an immediate error, otherwise the return value of the update function in the motion library:
  • 1: Finished (final state reached)
  • 0: Working (final state not yet reached)
  • -100: ErrorInvalidInput
  • -101: ErrorTrajectoryDuration
  • -110: ErrorExecutionTimeCalculation
  • -111: ErrorSynchronizationCalculation