Screen Output of 05_RMLVelocitySampleApplication.cpp

This page displays the screen output of the program 05_RMLVelocitySampleApplication.cpp (Example 5 — Making Use of Output Parameters of the Velocity-based algorithm).

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Reflexxes Motion Libraries
Example: 05_RMLVelocitySampleApplication

This example demonstrates the use of the entire output
values of the velocity-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 current trajectory is time-synchronized.
The trajectory was computed during the last computation cycle.
The degree of freedom with the index 0 will reach its target velocity at position -200.000 after 0.600 seconds.
The degree of freedom with the index 1 will reach its target velocity at position 104.375 after 0.050 seconds.
The degree of freedom with the index 2 will reach its target velocity at position -296.250 after 0.050 seconds.
The degree of freedom with the index 0 will require the greatest execution time.

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New state of motion:

New position/pose vector                  :   -200.150    100.100   -299.950
New velocity vector                       :   -149.500     99.500     51.000
New acceleration vector                   :    500.000   -500.000   1000.000
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Extremes of the current trajectory:

Degree of freedom                         : 0
Minimum position                          :   -222.500
Time, at which the minimum will be reached:      0.300
Position/pose vector at this time         :   -222.500    123.125   -271.250
Velocity vector at this time              :      0.000     75.000    100.000
Acceleration vector at this time          :    500.000      0.000      0.000
Maximum position                          :   -200.000
Time, at which the maximum will be reached:      0.600
Position/pose vector at this time         :   -200.000    145.625   -241.250
Velocity vector at this time              :    150.000     75.000    100.000
Acceleration vector at this time          :    500.000      0.000      0.000

Degree of freedom                         : 1
Minimum position                          :    100.100
Time, at which the minimum will be reached:      0.000
Position/pose vector at this time         :   -200.000    100.000   -300.000
Velocity vector at this time              :   -150.000    100.000     50.000
Acceleration vector at this time          :    500.000   -500.000   1000.000
Maximum position                          :    104.375
Time, at which the maximum will be reached:      0.050
Position/pose vector at this time         :   -206.875    104.375   -296.250
Velocity vector at this time              :   -125.000     75.000    100.000
Acceleration vector at this time          :    500.000   -500.000   1000.000

Degree of freedom                         : 2
Minimum position                          :   -299.950
Time, at which the minimum will be reached:      0.000
Position/pose vector at this time         :   -200.000    100.000   -300.000
Velocity vector at this time              :   -150.000    100.000     50.000
Acceleration vector at this time          :    500.000   -500.000   1000.000
Maximum position                          :   -296.250
Time, at which the maximum will be reached:      0.050
Position/pose vector at this time         :   -206.875    104.375   -296.250
Velocity vector at this time              :   -125.000     75.000    100.000
Acceleration vector at this time          :    500.000   -500.000   1000.000
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See also:

Example 5 — Making Use of Output Parameters of the Velocity-based algorithm