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pantor / ruckig

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

Dynamic Dofs #47

Closed pantor closed 3 years ago

pantor commented 3 years ago

This PR adds dynamic DoFs by setting the template parameter to zero and adding it as an argument to the constructor.

Ruckig<0> otg {6, 0.001};
InputParameter<0> input {6};
OutputParameter<0> output {6};