### Install Ruckig Python Module

Source: https://github.com/pantor/ruckig/blob/main/README.md

Installs the Ruckig Python module from PyPI using pip.

```bash
pip install ruckig
```

--------------------------------

### Ruckig Tracking Interface State and Constraints Setup

Source: https://github.com/pantor/ruckig/blob/main/README.md

Sets the current state (position, velocity, acceleration) and kinematic constraints (max velocity, acceleration, jerk) for the Ruckig tracking interface.

```cpp
input.current_position = {0.0};
input.current_velocity = {0.0};
input.current_acceleration = {0.0};
input.max_velocity = {0.8};
input.max_acceleration = {2.0};
input.max_jerk = {5.0};
```

--------------------------------

### Install Ruckig using cpack

Source: https://github.com/pantor/ruckig/blob/main/README.md

Installs Ruckig system-wide using cpack to generate a debian package.

```bash
cpack
sudo dpkg -i ruckig*.deb
```

--------------------------------

### Find and Link Ruckig Package in CMake

Source: https://github.com/pantor/ruckig/blob/main/examples/CMakeLists-installed.txt

This snippet configures CMake to find an installed Ruckig package and links it to a C++17 executable. Ensure Ruckig is installed via 'make install' before running CMake.

```cmake
cmake_minimum_required(VERSION 3.10)

project(ruckig_examples)

find_package(ruckig REQUIRED)

# Build the position example
add_executable(example-position 01_position.cpp)
target_compile_features(example-position PUBLIC cxx_std_17)

target_link_libraries(example-position PRIVATE ruckig::ruckig)
```

--------------------------------

### Define Input and Output Parameters

Source: https://github.com/pantor/ruckig/blob/main/README.md

Sets up the input and output parameter structures for Ruckig, including current and target states, and kinematic limits.

```cpp
InputParameter<6> input; // Number DoFs
input.current_position = {0.2, ...};
input.current_velocity = {0.1, ...};
input.current_acceleration = {0.1, ...};
input.target_position = {0.5, ...};
input.target_velocity = {-0.1, ...};
input.target_acceleration = {0.2, ...};
input.max_velocity = {0.4, ...};
input.max_acceleration = {1.0, ...};
input.max_jerk = {4.0, ...};

OutputParameter<6> output; // Number DoFs
```

--------------------------------

### Ruckig Tracking Interface Initialization

Source: https://github.com/pantor/ruckig/blob/main/README.md

Initializes the Ruckig Tracking interface with a specified control cycle time.

```cpp
Trackig<1> trackig {0.01};  // control cycle
```

--------------------------------

### CMakeLists.txt for Ruckig Integration

Source: https://github.com/pantor/ruckig/blob/main/examples/CMakeLists-directory.txt

Use this CMakeLists.txt to build an executable that links against the Ruckig library. Ensure Ruckig's include and lib directories are correctly specified.

```cmake
cmake_minimum_required(VERSION 3.10)

project(ruckig_examples)

include_directories(include)
link_directories(lib)

# Build the position example
add_executable(example-position 01_position.cpp)
target_compile_features(example-position PUBLIC cxx_std_17)

target_link_libraries(example-position ruckig)
```

--------------------------------

### Build Ruckig with CMake

Source: https://github.com/pantor/ruckig/blob/main/README.md

Builds the Ruckig library using CMake. Assumes you are in a build directory.

```bash
mkdir -p build
cd build
cmake -DCMAKE_BUILD_TYPE=Release ..
make
```

--------------------------------

### Ruckig Offline Calculation

Source: https://github.com/pantor/ruckig/blob/main/README.md

Demonstrates how to perform an offline trajectory calculation using the Ruckig library.

```cpp
result = ruckig.calculate(input, trajectory);
```

--------------------------------

### Ruckig Online Tracking Loop

Source: https://github.com/pantor/ruckig/blob/main/README.md

Demonstrates the online tracking process within a control loop, updating the target state and processing the output.

```cpp
for (double t = 0; t < 10.0; t += trackig.delta_time) {
  auto target_state = signal(t); // signal returns position, velocity, and acceleration
  auto res = trackig.update(target_state, input, output);
  // Make use of the smooth target motion here (e.g. output.new_position)

  output.pass_to_input(input);
}
```

--------------------------------

### Instantiate Ruckig Controller

Source: https://github.com/pantor/ruckig/blob/main/README.md

Creates a Ruckig instance with a specified number of degrees of freedom and control cycle time.

```cpp
Ruckig<6> ruckig {0.001}; // Number DoFs; control cycle in [s]
```

--------------------------------

### Ruckig Trajectory Class Parameters

Source: https://github.com/pantor/ruckig/blob/main/README.md

Illustrates key parameters and methods of the Ruckig Trajectory class for accessing trajectory properties.

```cpp
double duration; // Duration of the trajectory
std::array<double, DOFs> independent_min_durations; // Time-optimal profile for each independent DoF

<...> at_time(double time); // Get the kinematic state of the trajectory at a given time
void get_position_extrema(Vector<Bound>& position_extrema); // Passes information about the position extrema and their times
```

--------------------------------

### Include Eigen for Ruckig Integration

Source: https://github.com/pantor/ruckig/blob/main/README.md

Include Eigen (version 3.4 or later) before Ruckig to enable integration with Eigen types.

```cpp
#include <Eigen/Core> // Version 3.4 or later
#include <ruckig/ruckig.hpp>
```

--------------------------------

### Ruckig Stepping Through Trajectory

Source: https://github.com/pantor/ruckig/blob/main/README.md

Shows how to step through a trajectory using the update function in a control loop. This is available in Ruckig Pro.

```cpp
while (ruckig.update(trajectory, output) == Result::Working) {
  // Make use of the new state here!
  // e.g. robot->setJointPositions(output.new_position);
}
```

--------------------------------

### Ruckig with Eigen Vector Types

Source: https://github.com/pantor/ruckig/blob/main/README.md

Instantiate Ruckig with `ruckig::EigenVector` to use Eigen types for all Ruckig API inputs and outputs.

```cpp
Ruckig<6, EigenVector> ruckig {0.001};
InputParameter<6, EigenVector> input;
OutputParameter<6, EigenVector> output;
```

--------------------------------

### Ruckig Output Parameters

Source: https://github.com/pantor/ruckig/blob/main/README.md

Defines the output parameters for the Ruckig update function, including kinematic state, trajectory information, and calculation status.

```cpp
Vector new_position;
Vector new_velocity;
Vector new_acceleration;

Trajectory trajectory; // The current trajectory
double time; // The current, auto-incremented time. Reset to 0 at a new calculation.

size_t new_section; // Index of the section between two (possibly filtered) intermediate positions.
bool did_section_change; // Was a new section reached in the last cycle?

bool new_calculation; // Whether a new calculation was performed in the last cycle
bool was_calculation_interrupted; // Was the trajectory calculation interrupted? (only in Pro Version)
double calculation_duration; // Duration of the calculation in the last cycle [µs]
```

--------------------------------

### Allocate Memory for Intermediate Waypoints

Source: https://github.com/pantor/ruckig/blob/main/README.md

Allocate memory for a variable number of intermediate waypoints by passing the maximum number to Ruckig. This sets up the necessary structures for waypoint handling.

```cpp
Ruckig<6> ruckig {0.001, 8};
InputParameter<6> input {8};
OutputParameter<6> output {8};
```

--------------------------------

### Configure Ruckig for Extended Numerical Range

Source: https://github.com/pantor/ruckig/blob/main/README.md

Use `position_scale` and `time_scale` parameters in Ruckig Pro's Calculator to adjust internal representation for higher jerk limits or longer trajectories. These scales affect internal calculations only and do not alter the final trajectory.

```cpp
Ruckig<1> ruckig;  // Works also for Trackig

ruckig.calculator.position_scale = 1e2;  // Scales all positions in the input parameters
ruckig.calculator.time_scale = 1e3;  // Scale all times in the input parameters
```

--------------------------------

### Ruckig InputParameter Members

Source: https://github.com/pantor/ruckig/blob/main/README.md

Defines the structure for input parameters in Ruckig, including current and target states, kinematic limits, and advanced control options.

```cpp
using Vector = std::array<double, DOFs>; // By default

Vector current_position;
Vector current_velocity; // Initialized to zero
Vector current_acceleration; // Initialized to zero

std::vector<Vector> intermediate_positions; // (only in Pro Version)

Vector target_position;
Vector target_velocity; // Initialized to zero
Vector target_acceleration; // Initialized to zero

Vector max_velocity;
Vector max_acceleration;
Vector max_jerk; // Initialized to infinity

Vector max_position; // Initialized to infinity (only in Pro Version)
Vector min_position; // Initialized to -infinity (only in Pro Version)

std::optional<Vector> min_velocity; // If not given, the negative maximum velocity will be used.
std::optional<Vector> min_acceleration; // If not given, the negative maximum acceleration will be used.

std::array<bool, DOFs> enabled; // Initialized to true
std::optional<double> minimum_duration;
std::optional<double> interrupt_calculation_duration; // [µs], (only in Pro Version)

ControlInterface control_interface; // The default position interface controls the full kinematic state.
Synchronization synchronization; // Synchronization behavior of multiple DoFs
DurationDiscretization duration_discretization; // Whether the duration should be a discrete multiple of the control cycle (off by default)

std::optional<Vector<ControlInterface>> per_dof_control_interface; // Sets the control interface for each DoF individually, overwrites global control_interface
std::optional<Vector<Synchronization>> per_dof_synchronization; // Sets the synchronization for each DoF individually, overwrites global synchronization
```

--------------------------------

### Minimal Custom Vector Type Definition

Source: https://github.com/pantor/ruckig/blob/main/README.md

Define a custom vector type by implementing the required template arguments and methods. `DynamicDOFs` corresponds to `DOFs = 0`.

```cpp
template<class Type, size_t DOFs>
struct MinimalVector {
  Type operator[](size_t i) const; // Array [] getter
  Type& operator[](size_t i); // Array [] setter
  size_t size() const; // Current size
  bool operator==(const MinimalVector<T, DOFs>& rhs) const; // Equal comparison operator

  // Only required in combination with DynamicDOFs, e.g. to allocate memory
  void resize(size_t size);
};
```

--------------------------------

### Ruckig with Dynamic Degrees of Freedom

Source: https://github.com/pantor/ruckig/blob/main/README.md

Use `ruckig::DynamicDOFs` when the number of degrees of freedom is not known at compile-time. This switches the internal vector type to `std::vector`. Ensure memory is allocated beforehand for dynamic DoFs.

```cpp
Ruckig<DynamicDOFs> ruckig {6, 0.001};
InputParameter<DynamicDOFs> input {6};
OutputParameter<DynamicDOFs> output {6};
```

--------------------------------

### Ruckig Control Loop

Source: https://github.com/pantor/ruckig/blob/main/README.md

The main control loop that updates the Ruckig trajectory and processes the output. Ensure to pass the output state back to the input for the next iteration.

```cpp
while (ruckig.update(input, output) == Result::Working) {
  // Make use of the new state here!
  // e.g. robot->setJointPositions(output.new_position);

  output.pass_to_input(input); // Don't forget this!
}
```

--------------------------------

### Ruckig Input Validation

Source: https://github.com/pantor/ruckig/blob/main/README.md

Validates the input parameters before trajectory calculation to ensure a valid trajectory can be generated. Can optionally check if current/target states are within limits.

```cpp
ruckig.validate_input(input, check_current_state_within_limits=false, check_target_state_within_limits=true);
// returns true or throws
```

```cpp
ruckig.validate_input<false>(...)
```

--------------------------------

### Set Intermediate Waypoint Positions

Source: https://github.com/pantor/ruckig/blob/main/README.md

Set intermediate waypoint positions for trajectory generation. The Ruckig Community Version uses a cloud API for calculation when intermediate positions are provided.

```cpp
input.intermediate_positions = {
  {0.2, ...},
  {0.8, ...},
};
```

--------------------------------

### Ruckig Tracking Interface Offline Calculation

Source: https://github.com/pantor/ruckig/blob/main/README.md

Calculates a smooth trajectory offline using the Ruckig tracking interface when the entire signal is known beforehand. This is available in Ruckig Pro.

```cpp
smooth_trajectory = trackig.calculate_trajectory(target_states, input);
```

--------------------------------

### Filter Intermediate Waypoint Positions

Source: https://github.com/pantor/ruckig/blob/main/README.md

Filter intermediate waypoint positions to ensure a minimum distance between them. This helps in optimizing the trajectory generation process.

```cpp
input.intermediate_positions = ruckig.filter_intermediate_positions(input.intermediate_positions, {0.1, ...});
```

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