ruckig:在线轨迹生成。 即时的。 时间最佳。 混蛋约束-源码

上传者: 42113456 | 上传时间: 2021-07-20 15:39:04 | 文件大小: 308KB | 文件类型: ZIP
拉基格 在线轨迹生成。 即时的。 时间最佳。 混蛋约束。 Ruckig根据目标航路点的位置,速度和加速度,从受速度,加速度和加速度率限制所限制的任何初始状态开始计算最佳时间轨迹。 Ruckig是库的更强大的开源替代品。 实际上,Ruckig是第一个Type V轨迹发生器,甚至支持定向速度和加速度限制,同时在顶部速度更快。 对于机器人技术和加工应用,Ruckig既可以对不可预见的事件做出即时React,又可以进行简单的离线轨迹规划。 安装 Ruckig没有依赖项(测试除外)。 要使用CMake构建Ruckig,只需运行 mkdir -p build cd build cmake -DCMAKE_BUILD_TYPE=Release .. make 要将Ruckig安装在系统范围的目录中,请使用(sudo) make install 。 我们建议将Ruckig作为项目中的目录包括在内,并在

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