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pantor / ruckig

Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
https://ruckig.com
MIT License
728 stars 164 forks source link

The best way to extract the jerk profile and duration of each segment? #117

Closed Aymenzerahmed closed 2 years ago

Aymenzerahmed commented 2 years ago

Hi, I wish to know the best way to extract the jerk profile from the ruckig trajectory?

pantor commented 2 years ago

Hi, in the C++ version the profiles member in the Trajectory class contain all the relevant information. They are a list of Profile, which contain the t and j arrays with the switching times and the jerk values. In the Python version, you would need to build it by yourself with the ÈXPOSE_INTERNAL CMake flag enabled. Then, the mentioned classes and members are wrapped and can be used in Python similarly.