Result::ErrorExecutionTimeCalculation -by hualei
hubeihualei opened this issue · 4 comments
i test 4 dof example, i use the follow data， but result=Result::ErrorExecutionTimeCalculation
i use the latest ruckig code.
input.current_position = {2.990056872367862, 2.51504516601562, 0, 0};
input.current_velocity = {0.0, 0, 0, 0};
input.current_acceleration = {0.0, 0, 0, 0};
input.target_position = {2.990056872367862, 2.51504516601562, 0,719};
input.target_velocity = {0.0, 0, 0,0};
input.target_acceleration = {0.0, 0.0, 0,0};
input.max_velocity = {225, 600, 12499.99999999999,546.454545454545};
input.max_acceleration = {11250, 30000, 624999.9999999997,27272.72727272725};//
input.max_jerk = {562500, 1500000,31249999.99999998,1363636.363636363};
input size is 4, but ruckig dof set 3.
This issue is due to numerical reasons as the input exceeds the limits explained in the Readme section. Using the Ruckig Pro version with a time_scale = 100.0 works just fine.
The dof: 3 output from the message above is zero-indexed, so it's the last axis. Btw, you can format the code via markdown, this helps a lot for testing and debugging issues.