Crate rsruckig 

The core implementation of the Ruckig trajectory generation algorithm

This module contains all the components needed for real-time trajectory generation:

• Trajectory generator ruckig::Ruckig
• Input parameters input_parameter::InputParameter
• Output parameters output_parameter::OutputParameter
• Error handling through the error::RuckigErrorHandler trait
• Collection types like util::DataArrayOrVec

Main Components

The main components you’ll interact with are:

• ruckig::Ruckig: Main class for trajectory calculation and step-by-step updating
• input_parameter::InputParameter: Contains the current state, target state, and limits
• output_parameter::OutputParameter: Contains the resulting trajectory and calculated states

Memory Management

The library supports both stack and heap allocation for degree-of-freedom (DoF) data:

• Use template parameter for stack allocation (e.g., Ruckig::<3, ThrowErrorHandler>)
• Use runtime parameter for heap allocation (e.g., Ruckig::<0, ThrowErrorHandler>::new(Some(3), ...))

Error Handling

Error handling is done through the error::RuckigErrorHandler trait with two implementations:

• error::ThrowErrorHandler: Returns errors when validation or calculation fails
• error::IgnoreErrorHandler: Ignores errors and continues execution

You can implement your own error handler by implementing the error::RuckigErrorHandler trait.

Control Interfaces

The library supports three control interfaces:

• Position control: Control the full kinematic state (default)
• Velocity control: Control the velocity (useful for visual servoing)
• Acceleration control: Control the acceleration directly

Modules

block

Which times are possible for synchronization?

brake

Emergency brake profile calculation for trajectory interruption

calculator_target

Calculation of a state-to-state trajectory.

error

Error types and handling for the Ruckig algorithm

input_parameter

Input parameters for trajectory generation, including constraints and settings

output_parameter

Output parameters containing the generated trajectory and current state

position_first_step1

Mathematical equations for Step 1 in first-order position interface: Extremal profiles

position_first_step2

Mathematical equations for Step 2 in first-order position interface: Time synchronization

position_second_step1

Mathematical equations for Step 1 in second-order position interface: Extremal profiles

position_second_step2

Mathematical equations for Step 2 in second-order position interface: Time synchronization

position_third_step1

Mathematical equations for Step 1 in third-order position interface: Extremal profiles

position_third_step2

Mathematical equations for Step 2 in third-order position interface: Time synchronization

prelude

Re-exports of the most commonly used types

profile

Motion profiles for trajectory generation with kinematic constraints

result

Result types for trajectory calculation operations

roots

Root-finding utilities for trajectory calculations

ruckig

Main implementation for the Ruckig algorithm.

trajectory

Trajectory representation and evaluation

util

Utility functions and data structures for the Ruckig algorithm

velocity_second_step1

Mathematical equations for Step 1 in second-order velocity interface: Extremal profiles

velocity_second_step2

Mathematical equations for Step 2 in second-order velocity interface: Time synchronization

velocity_third_step1

Mathematical equations for Step 1 in third-order velocity interface: Extremal profiles

velocity_third_step2

Mathematical equations for Step 2 in third-order velocity interface: Time synchronization

Macros

count_exprs

Helper macro for counting elements in a sequence. This is used internally by the daov_stack and daov_heap macros.

daov_heap

Creates a heap-allocated DataArrayOrVec instance with dynamic Vec storage.

daov_stack

Creates a stack-allocated DataArrayOrVec instance with fixed-size array storage.