Screen Output of 02_RMLPositionSampleApplication.cpp

This page displays the screen output of the program 02_RMLPositionSampleApplication.cpp (Example 2 — Making Use of Output Parameters of the Position-based algorithm).

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Reflexxes Motion Libraries
Example: 02_RMLPositionSampleApplication

This example demonstrates the use of the entire output
values of the position-based On-Line Trajectory
Generation algorithm of the Reflexxes Motion  Library.

Copyright (C) 2014 Reflexxes GmbH
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Input values are valid!
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General information:

The execution time of the current trajectory is 3.903 seconds.
The current trajectory is time-synchronized.
The trajectory was computed during the last computation cycle.
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New state of motion:

New position/pose vector                  :    100.100     -0.220     49.950
New velocity vector                       :     99.700   -219.800    -50.100
New acceleration vector                   :   -300.000    200.000   -100.000
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Extremes of the current trajectory:

Degree of freedom                         : 0
Minimum position                          :   -604.167
Time, at which the minimum will be reached:      3.736
Position/pose vector at this time         :   -604.167   -194.174   -318.056
Velocity vector at this time              :      0.000    -27.064   -183.333
Acceleration vector at this time          :    300.000      0.000   -100.000
Maximum position                          :    116.667
Time, at which the maximum will be reached:      0.333
Position/pose vector at this time         :    116.667    -62.222     27.778
Velocity vector at this time              :      0.000   -153.333    -83.333
Acceleration vector at this time          :   -300.000    200.000   -100.000

Degree of freedom                         : 1
Minimum position                          :   -200.000
Time, at which the minimum will be reached:      3.903
Position/pose vector at this time         :   -600.000   -200.000   -350.000
Velocity vector at this time              :     50.000    -50.000   -200.000
Acceleration vector at this time          :      0.000   -200.000   -100.000
Maximum position                          :     -0.220
Time, at which the maximum will be reached:      0.000
Position/pose vector at this time         :    100.000      0.000     50.000
Velocity vector at this time              :    100.000   -220.000    -50.000
Acceleration vector at this time          :   -300.000    200.000   -100.000

Degree of freedom                         : 2
Minimum position                          :   -350.000
Time, at which the minimum will be reached:      3.903
Position/pose vector at this time         :   -600.000   -200.000   -350.000
Velocity vector at this time              :     50.000    -50.000   -200.000
Acceleration vector at this time          :      0.000   -200.000   -100.000
Maximum position                          :     49.950
Time, at which the maximum will be reached:      0.000
Position/pose vector at this time         :    100.000      0.000     50.000
Velocity vector at this time              :    100.000   -220.000    -50.000
Acceleration vector at this time          :   -300.000    200.000   -100.000
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See also:

Example 2 — Making Use of Output Parameters of the Position-based algorithm