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02_position_offline/
02_position_offline.rs

1use ruckig::{InputParameter, Result, Ruckig, Trajectory};
2
3fn main() {
4    // Create input parameters
5    let mut input = InputParameter::new(3);
6    input.current_position = vec![0.0, 0.0, 0.5];
7    input.current_velocity = vec![0.0, -2.2, -0.5];
8    input.current_acceleration = vec![0.0, 2.5, -0.5];
9
10    input.target_position = vec![5.0, -2.0, -3.5];
11    input.target_velocity = vec![0.0, -0.5, -2.0];
12    input.target_acceleration = vec![0.0, 0.0, 0.5];
13
14    input.max_velocity = vec![3.0, 1.0, 3.0];
15    input.max_acceleration = vec![3.0, 2.0, 1.0];
16    input.max_jerk = vec![4.0, 3.0, 2.0];
17
18    // We don't need to pass the control rate (cycle time) when using only offline features
19    let mut ruckig = Ruckig::new_direct_and_offline(3);
20    let mut trajectory = Trajectory::new_direct(3);
21
22    // Calculate the trajectory in an offline manner (outside of the control loop)
23    let result = ruckig.calculate(&mut input, &mut trajectory);
24    if result == Result::ErrorInvalidInput {
25        println!("Invalid input!");
26        return;
27    }
28
29    // Get duration of the trajectory
30    println!("Trajectory duration: {} [s].", trajectory.get_duration());
31}
32