ErrorSynchronizationCalculation in Velocity Control

[fricher]

Hello @pantor ,

I'm hitting a ErrorSynchronizationCalculation error with these input parameters:

ruckig::Ruckig<6> otg{0.008};
ruckig::InputParameter<6> inp;
ruckig::OutputParameter<6> outp;

inp.synchronization = ruckig::Synchronization::Phase;
inp.control_interface = ruckig::ControlInterface::Velocity;

inp.current_position = {0.04899089988984485, -0.3736623957062429, -0.007154243077742151, 0.3549484836962968, -0.7307530792012156, -0.3947326782044243};
inp.current_velocity = {0.1119477497536703, -0.005706738140158095, 0.001348657044096806, 0.1054435897294738, -0.03687579980795278, -0.1371515680506455};
inp.current_acceleration = {-2.943871184141059, 0.1638588832925878, -0.03832918779616604, -3.516112331376623, 1.09743295912854, 4.327530374547349};
inp.target_position = {0, 0, 0, 0, 0, 0};
inp.target_velocity = {0, 0, 0, 0, 0, 0};
inp.target_acceleration = {0, 0, 0, 0, 0, 0};
inp.max_velocity = {6.457718232379019, 5.410520681182422, 7.155849933176751, 9.599310885968812, 9.424777960769379, 17.4532925199433};
inp.max_acceleration = {26.89552377323262, 22.5322006432468, 29.81022362406315, 39.98549316319009, 39.61897402027128, 72.71041663808377};
inp.max_jerk = {224.2224490037115, 187.8497873921497, 248.4650723139127, 333.3055272533571, 330.268654354887, 606.0132228774711};

I've actually hit this error several times but when I tried to replicate it with the printed values (inp.to_string()), it would actually succeed... In case it's useful, these parameters were printed after an error, but they work fine on their own:

inp.current_position = {0.2383856650790576, -0.3299342630619511, -0.2992587405955631, 0.7421485723672347, -0.5772957742147332, -0.9083338322091556};
inp.current_velocity = {0.1655224369207376, 0.009499080610294053, -0.003004920394338419, 0.1470437982102569, -0.1105344456172633, -0.2372752552458836};
inp.current_acceleration = {-8.615549451013575, -0.2516017650111069, 0.07852697334192837, -4.6830877805969, 3.307791575962221, 7.328339967828701};

Thanks a lot for your help !

[fricher]

With exceptions enabled:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 2 in dof: 1 for t sync: 0.035263 input: 
inp.current_position = [0.04899089988984485, -0.3736623957062429, -0.007154243077742151, 0.3549484836962968, -0.7307530792012156, -0.3947326782044243]
inp.current_velocity = [0.1119477497536703, -0.005706738140158095, 0.001348657044096806, 0.1054435897294738, -0.03687579980795278, -0.1371515680506455]
inp.current_acceleration = [-2.943871184141059, 0.1638588832925878, -0.03832918779616604, -3.516112331376623, 1.09743295912854, 4.327530374547349]
inp.target_position = [0, 0, 0, 0, 0, 0]
inp.target_velocity = [0, 0, 0, 0, 0, 0]
inp.target_acceleration = [0, 0, 0, 0, 0, 0]
inp.max_velocity = [6.457718232379019, 5.410520681182422, 7.155849933176751, 9.599310885968812, 9.424777960769379, 17.4532925199433]
inp.max_acceleration = [26.89552377323262, 22.5322006432468, 29.81022362406315, 39.98549316319009, 39.61897402027128, 72.71041663808377]
inp.max_jerk = [224.2224490037115, 187.8497873921497, 248.4650723139127, 333.3055272533571, 330.268654354887, 606.0132228774711]

I tried with inp.duration_discretization = ruckig::DurationDiscretization::Discrete; and it works.

[fricher]

Another failing scenario:

terminate called after throwing an instance of 'std::runtime_error'
  what():  [ruckig] error in step 2 in dof: 1 for t sync: 0.024000 input: 
inp.current_position = [0.5289912019692077, -0.2461593579591288, -0.2728396804501142, 0.0754714315617738, -1.299700871594353, -0.7587459866672472]
inp.current_velocity = [0.0287779218983349, -0.005980397028399779, 0.04763314105835294, -0.0006851075064467427, -0.04590228227812497, -0.02218815368630547]
inp.current_acceleration = [-1.374657509445135, 0.2564786317266955, -2.497210506808601, 0.02859726308202324, 2.224833616136844, 0.9559201624934724]
inp.target_position = [0, 0, 0, 0, 0, 0]
inp.target_velocity = [0, 0, 0, 0, 0, 0]
inp.target_acceleration = [0, 0, 0, 0, 0, 0]
inp.max_velocity = [6.457718232379019, 5.410520681182422, 7.155849933176751, 9.599310885968812, 9.424777960769379, 17.4532925199433]
inp.max_acceleration = [26.89552377323262, 22.5322006432468, 29.81022362406315, 39.98549316319009, 39.61897402027128, 72.71041663808377]
inp.max_jerk = [224.2224490037115, 187.8497873921497, 248.4650723139127, 333.3055272533571, 330.268654354887, 606.0132228774711]

with these settings:

inp.synchronization = ruckig::Synchronization::Phase;
inp.control_interface = ruckig::ControlInterface::Velocity;
inp.duration_discretization = ruckig::DurationDiscretization::Discrete;

[pantor]

This should be fixed with the latest commit. Thanks for reporting!

[fricher]

Looks good 👍

Thanks for your help !