Reflexxes Motion Libraries
Manual and Documentation (Type II, Version 1.2.6)

After calling the positionbased OnLine Trajectory Generation (OTG) algorithm with ReflexxesAPI::RMLPosition(), the output values can be read from the class RMLPositionOutputParameters. The output values of the velocitybased OnLine Trajectory Generation algorithm, which is called with ReflexxesAPI::RMLVelocity() can be read from the class RMLVelocityOutputParameters. For a detailed description of these classes, please refer to the class documentation, and for a description of the input values of the Reflexxes Motion Library, please refer to the Description of Input Values.
This page contains two main sections with one example each:
The positionbased Type II OnLine Trajectory Generation algorithm called at a time instant computes the following output values (cf. RMLPositionOutputParameters):
The positionbased OnLine Trajectory Generation algorithm of the Type II Reflexxes Motion Library is called by the method ReflexxesAPI::RMLPosition().
In this example (cf. Example 1 — Introduction to the Positionbased algorithm), we assume to control a simple Cartesian robot with three translational degrees of freedom, and we apply the following input values at time instant .
Further examples can be found on pages
For a program to setup the corresponding input parameters please refer to the Example 1 — Introduction to the Positionbased algorithm, to the Example 2 — Making Use of Output Parameters of the Positionbased algorithm, and to the Screen Output of 02_RMLPositionSampleApplication.cpp.
The velocitybased Type II OnLine Trajectory Generation algorithm is executed by a call of ReflexxesAPI::RMLVelocity(), and its output values RMLVelocityOutputParameters are the very same as for the positionbased algorithm (see above), but the values for the target position and the maximum velocity vector are not considered, and the flag RMLPositionFlags::KeepCurrentVelocityInCaseOfFallbackStrategy is not available.
For this second example (cf. Example 4 — Introduction to the Velocitybased algorithm), we again assume a very simply Cartesian robot with three translational degrees of freedom.
For a program to setup the corresponding input parameters please refer to the Example 4 — Introduction to the Velocitybased algorithm, to the Example 5 — Making Use of Output Parameters of the Velocitybased algorithm, and to the Screen Output of 05_RMLVelocitySampleApplication.cpp.