No trajectory - (Reached target position in -9.25596e+61 [s].)

[Danielxyz123]

There is no trajectory with these input parameters (for example):

Ruckig<1> otg {0.001};
InputParameter<1> input;
OutputParameter<1> output;

// Set input parameters
input.max_velocity = {2000};
input.max_acceleration = {18000};
input.max_jerk = { 190000};

input.current_position = {100};
input.current_velocity = {0};
input.current_acceleration = {0};

input.target_position = { 1000};
input.target_velocity = {0.0};
input.target_acceleration = {0.0};

[pantor]

Hi @Danielxyz123,

your trajectory is (currently) outside of Ruckigs region of numeric stability. While I haven't published the exact input requirements for numeric stability (yet), I plan to do so soon.

In the meantime, you can normalize your input with a constant factor to get input values closer to 1. So this trajectory with a factor of 0.01 is working fine:

input.max_velocity = {20};
input.max_acceleration = {180};
input.max_jerk = { 1900};

input.current_position = {1};
input.current_velocity = {0};
input.current_acceleration = {0};

input.target_position = { 10};
input.target_velocity = {0.0};
input.target_acceleration = {0.0};

Afterwards, you can just scale your output with 1/0.01. This input normalization was even integrated in Ruckig once, so maybe I'll add it back.

[pantor]

Anyway, I've found the root cause of this error and fixed it in the latest commit on the master branch. Can you confirm?

Also note to check the result of the update method. In case of errors, the values of the output class (e.g. the duration in the title of this issue) are invalid.

[Danielxyz123]

Great, i tested some cases. Now it works just fine! Thanks a lot!