search

pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
634 stars 155 forks source link

return_error_at_maximal_duration: how to change maximal duration? #109

Closed ethindp closed 2 years ago

ethindp commented 2 years ago

The maximal duration is 7.6e3, or 7600. Is there a way to change this and does turning it off break anything? And why is it so low?

pantor commented 2 years ago

This is to ensure numeric stability, it's also in the paper on the top right of page 6. "Low" is definitely relative: Ruckig was designed for robotics and machining applications, so when using SI units this corresponds to time-optimal trajectories durations of over 2 hours. That might change if you have other requirements regarding the precision, for more information please see the numerical stability section.

In general, numerical stability is very unpredictable and depends a lot on the actual use case. Feel free to comment that check out and see if Ruckig still works for your application.

pantor commented 2 years ago

Feel free to reopen if you have any more questions!