Added python example for non-realtime context

[mdhom]

As i was using this library in a non-realtime context, i wondered how to use it as the provided (python-)example only shows the usage with fixed time slots. I opened an issue to ask for the correct, intended way. With that help, i implemented this example along the original example.

It came up, that the constructor of Ruckig at the moment takes 2 parameters (number of DOFs, delta_time). In this scenario, the delta_time in my opinion is useless, that's why i'd provide a default value for this parameter. Does that make sense? A point of discussion here, maybe.

Thanks for reviewing, i'm happy for feedback and hope that i could contribute a very small piece to this great library.

[pantor]

With the latest commit on the master branch, you can do something like:

from ruckig import InputParameter, OutputParameter, Ruckig, Trajectory

inp = InputParameter(3)
inp.current_position = [0.2, 0, -1]
inp.current_velocity = [0, 0.2, 0]
inp.current_acceleration = [0, 1, 0]
inp.target_position = [0, -1, -1]
inp.target_velocity = [0.2, 0, 0]
inp.target_acceleration = [0, 0.1, -0.1]
inp.max_velocity = [2, 1, 1]
inp.max_acceleration = [0.2, 2, 2]
inp.max_jerk = [3, 4, 5]

otg = Ruckig(3)
trajectory = Trajectory(3)

otg.calculate(inp, trajectory)

print(f'Trajectory duration: {trajectory.duration:0.4f} [s]')

new_state = trajectory.at_time(0.1)

Feel free to update your example accordingly.

[pantor]

Can you rename the examples to position-online.py and position-offline.py?