error in time synchronization: 0.000000

[mqnc]

Hi! I encountered the aforementioned error. Here are my input parameters:

inp.current_position = [1.570796326794897, -0.7853981633974483, 1.570796326794897, -2.356194490192345, -1.570796326794897, 0]
inp.current_velocity = [0, 0, 0, 0, 0, 0]
inp.current_acceleration = [0, 0, 0, 0, 0, 0]
inp.target_position = [1.329224180107117, -1.860725548727889, 2.084440302845179, -2.282429484289127, -0.5282717423818638, 0.6502926543734557]
inp.target_velocity = [-0.3363008405858447, -1.497, 0.7150613316808525, 0.102690785470124, 1.45133409988134, 0.9052946264340856]
inp.target_acceleration = [0, 0, 0, 0, 0, 0]
inp.max_velocity = [3, 3, 5, 10, 10, 10]
inp.max_acceleration = [30, 30, 50, 100, 100, 100]
inp.max_jerk = [30, 30, 50, 100, 100, 100]

and I get:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in time synchronization: 0.000000

Is this my fault or yours? ;)

UPDATE: I think this only happens with input.duration_discretization = ruckig::DurationDiscretization::Discrete; which makes it smell like your fault! :D

[pantor]

Hey @mqnc! What's the control cycle of the Ruckig instance?

[mqnc]

I was going to say "there is no control cycle yet, it happens during invocation of the calculate method before sampling" but of course, if ruckig is supposed to round towards the next full step, it needs to know the sampling rate during planning... How do I specify that?

[pantor]

Ok, this should be catched now and should return an Error::InvalidInput with the latest commit.

You can specify a control cycle just as shown in the tutorial:

Ruckig<6> ruckig {0.001}; // Number DoFs; control cycle in [s]

[mqnc]

Thanks! So it was my fault after all :P