Result::ErrorExecutionTimeCalculation -by hualei

[hubeihualei]

i test 4 dof example, i use the follow data， but result=Result::ErrorExecutionTimeCalculation i use the latest ruckig code.

input.current_position = {2.990056872367862, 2.51504516601562, 0, 0}; input.current_velocity = {0.0, 0, 0, 0}; input.current_acceleration = {0.0, 0, 0, 0}; input.target_position = {2.990056872367862, 2.51504516601562, 0,719}; input.target_velocity = {0.0, 0, 0,0}; input.target_acceleration = {0.0, 0.0, 0,0}; input.max_velocity = {225, 600, 12499.99999999999,546.454545454545}; input.max_acceleration = {11250, 30000, 624999.9999999997,27272.72727272725};// input.max_jerk = {562500, 1500000,31249999.99999998,1363636.363636363};

[hubeihualei]

[chinahuangyong]

input size is 4, but ruckig dof set 3.

[pantor]

This issue is due to numerical reasons as the input exceeds the limits explained in the Readme section. Using the Ruckig Pro version with a time_scale = 100.0 works just fine.

The dof: 3 output from the message above is zero-indexed, so it's the last axis. Btw, you can format the code via markdown, this helps a lot for testing and debugging issues.

[hubeihualei]

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