ErrorExecutionTimeCalculation

[Danielxyz123]

Hi Pantor,

i got an "ErrorExecutionTimeCalculation" with the following Code.

`

include

include <ruckig/ruckig.hpp>

using namespace ruckig;

int main() { // Create instances: the ruckig otg as well as input and output parameters Ruckig<2> otg{ 0.002 }; InputParameter<2> input; OutputParameter<2> output;

ruckig::Result  resultOnline = ruckig::Result::Working;
unsigned int counterError = 0;
bool newPosInitDone = false;

// Set input parameters
input.max_velocity      = { 32.34, 19.60 };
input.max_acceleration  = { 245.0, 98.0 };
input.max_jerk          = { 2450.0, 2450.0 };

input.current_position = { 5.0, 0.0 };
input.current_velocity = { 0, 0 };
input.current_acceleration = { 0, 0 };

input.target_position = { 0.1, -3.35 };
input.target_velocity = { 0.0, 0.0 };
input.target_acceleration = { 0.0, 0.0 };

// Generate trajectory
while ((resultOnline = otg.update(input, output)) == Result::Working) {

    if ((output.new_position[0] < 2.5) && (newPosInitDone == false))
    {
        newPosInitDone = true;
        std::cout << "set new pos!!!!" << std::endl;
        input.target_position[0] = 0.0;
    }

    input.current_position = output.new_position;
    input.current_velocity = output.new_velocity;
    input.current_acceleration = output.new_acceleration;

    auto& p = output.new_position;
    auto& v = output.new_velocity;
    auto& a = output.new_acceleration;

    std::cout << "p: " << output.time << " " << p[0] << ' ' << p[1] << std::endl;

}

std::cout << " Error count : " << counterError << std::endl;
if (resultOnline != Result::Finished)
{
    std::cout << " Last Error  : " << resultOnline << std::endl;
}

} `

[pantor]

Hi @Danielxyz123,

this does seem to work on my hardware again. Could you replace Ruckig<2> with Ruckig<2, true> and post the exact thrown error message here?

[Danielxyz123]

Hi,

i had to modify your code to get the message in my Win10 VS System. Or do you mean another message?

Error message:

[ruckig] error in step 1, dof: 1 input: inp.current_position = [2.46105171562071, -1.740571215512525] inp.current_velocity = [-22.05435743108223, -16.24482629348391] inp.current_acceleration = [0, 9.881190028331117] inp.target_position = [0, -3.35] inp.target_velocity = [0, 0] inp.target_acceleration = [0, 0] inp.max_velocity = [32.34, 19.6] inp.max_acceleration = [245, 98] inp.max_jerk = [2450, 2450]

Error count : 0 Last Error : -110

Without try catch block, it throws no error message...

[Danielxyz123]

Now, i used the last commit... It works fine!

[pantor]

That's great to hear! Then it was probably caused by the same issue as #68. Feel free to open new issues if you get more ExecutionTimeCalculation errors.