No fixed control cycle

[mdhom]

Hey,
i want to use your library in a non-realtime environment, so i need to get the status of the trajectory at points with flexible distance in time to each other. I am not sure how to use your (python-)library here. I could imagine that using the Trajectory.at_time i could accomplish this, but then i am not sure how to implement changes in target_position, target_velocity on the fly.
My thoughts would generate something like that:

1. run update on Ruckig instance once with the target values of the beginning
2. cyclically run at_time as long as target values haven't changed
3. whenever target values change, run update once
4. proceed with step 2

Could you give me a little hint how to setup this best?
Thanks!

[pantor]

Yes, that should be good. Just as you've written, you need to call update after changing the input values, and then you can use the trajectory duration and the at_time method of the output parameters. Note that in Python the at_time method returns the new kinematic state as a tuple instead of using references like the C++ version.

[mdhom]

ok perfect, thanks. just another question: the duration of the trajectory i get after calling update on the fly, is it the new total duration (including all the time passed since the first call)?

[pantor]

Yes, it is the total duration from current to target state as in the input parameters.

[mdhom]

ok great, thanks. if you're ok, i'd like to provide an extra python example with this behaviour the next days?

[pantor]

Sure, just open a PR for that.