├── .clang-format ├── .gitignore ├── .gitlab-ci.yml ├── .travis.yml ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── include └── RTmotion │ ├── algorithm │ ├── math_utils.hpp │ ├── offline_scurve_planner.hpp │ ├── online_scurve_planner.hpp │ ├── planner.hpp │ ├── ruckig_planner.hpp │ ├── scurve_planner.hpp │ ├── time_optimal_trajectory_generation.hpp │ └── trajectory.hpp │ ├── axis.hpp │ ├── fb │ ├── execution_node.hpp │ ├── fb_axis_motion.hpp │ ├── fb_axis_node.hpp │ ├── fb_axis_read.hpp │ ├── fb_base.hpp │ ├── fb_global.hpp │ ├── fb_halt.hpp │ ├── fb_move_absolute.hpp │ ├── fb_move_additive.hpp │ ├── fb_move_relative.hpp │ ├── fb_move_velocity.hpp │ ├── fb_power.hpp │ ├── fb_read_actual_position.hpp │ ├── fb_read_actual_velocity.hpp │ ├── fb_read_axis_error.hpp │ ├── fb_read_command_position.hpp │ ├── fb_read_command_velocity.hpp │ ├── fb_read_status.hpp │ ├── fb_reset.hpp │ └── fb_stop.hpp │ ├── global.hpp │ ├── logging.hpp │ ├── motion_kernel.hpp │ ├── plot │ └── matplotlibcpp.h │ ├── servo.hpp │ └── tool │ └── fb_debug_tool.hpp ├── src ├── CMakeLists.txt ├── algorithm │ ├── README.md │ ├── offline_scurve_planner.cpp │ ├── online_scurve_planner.cpp │ ├── planner.cpp │ ├── ruckig_planner.cpp │ ├── scurve_planner.cpp │ ├── time_optimal_trajectory_generation.cpp │ └── trajectory.cpp ├── axis │ ├── axis.cpp │ └── motion_kernel.cpp ├── demo │ ├── RT_single_axis_move_relative.cpp │ ├── multi-axis.cpp │ └── single_axis_move_relative.cpp ├── fb │ ├── execution_node.cpp │ ├── fb_axis_motion.cpp │ ├── fb_axis_node.cpp │ ├── fb_axis_read.cpp │ ├── fb_base.cpp │ ├── fb_halt.cpp │ ├── fb_move_absolute.cpp │ ├── fb_move_additive.cpp │ ├── fb_move_relative.cpp │ ├── fb_move_velocity.cpp │ ├── fb_power.cpp │ ├── fb_read_actual_position.cpp │ ├── fb_read_actual_velocity.cpp │ ├── fb_read_axis_error.cpp │ ├── fb_read_command_position.cpp │ ├── fb_read_command_velocity.cpp │ ├── fb_read_status.cpp │ ├── fb_reset.cpp │ └── fb_stop.cpp ├── servo │ └── servo.cpp └── tool │ └── fb_debug_tool.cpp └── test ├── CMakeLists.txt ├── function_block_test.cpp ├── get_clock_time_test.cpp ├── offline_scurve_test.cpp ├── online_scurve_test.cpp ├── planner_test.cpp ├── rdtsc_test.cpp └── uranus_test.cpp /.clang-format: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/.clang-format -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/.gitignore -------------------------------------------------------------------------------- /.gitlab-ci.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/.gitlab-ci.yml -------------------------------------------------------------------------------- /.travis.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/.travis.yml -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/CMakeLists.txt -------------------------------------------------------------------------------- /Doxyfile: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/Doxyfile -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/LICENSE -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/README.md -------------------------------------------------------------------------------- /include/RTmotion/algorithm/math_utils.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/math_utils.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/offline_scurve_planner.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/offline_scurve_planner.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/online_scurve_planner.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/online_scurve_planner.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/planner.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/planner.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/ruckig_planner.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/ruckig_planner.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/scurve_planner.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/scurve_planner.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/time_optimal_trajectory_generation.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/time_optimal_trajectory_generation.hpp -------------------------------------------------------------------------------- /include/RTmotion/algorithm/trajectory.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/algorithm/trajectory.hpp -------------------------------------------------------------------------------- /include/RTmotion/axis.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/axis.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/execution_node.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/execution_node.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_axis_motion.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_axis_motion.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_axis_node.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_axis_node.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_axis_read.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_axis_read.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_base.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_base.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_global.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_global.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_halt.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_halt.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_move_absolute.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_move_absolute.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_move_additive.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_move_additive.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_move_relative.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_move_relative.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_move_velocity.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_move_velocity.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_power.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_power.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_actual_position.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_actual_position.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_actual_velocity.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_actual_velocity.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_axis_error.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_axis_error.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_command_position.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_command_position.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_command_velocity.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_command_velocity.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_read_status.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_read_status.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_reset.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_reset.hpp -------------------------------------------------------------------------------- /include/RTmotion/fb/fb_stop.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/fb/fb_stop.hpp -------------------------------------------------------------------------------- /include/RTmotion/global.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/global.hpp -------------------------------------------------------------------------------- /include/RTmotion/logging.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/logging.hpp -------------------------------------------------------------------------------- /include/RTmotion/motion_kernel.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/motion_kernel.hpp -------------------------------------------------------------------------------- /include/RTmotion/plot/matplotlibcpp.h: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/plot/matplotlibcpp.h -------------------------------------------------------------------------------- /include/RTmotion/servo.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/servo.hpp -------------------------------------------------------------------------------- /include/RTmotion/tool/fb_debug_tool.hpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/include/RTmotion/tool/fb_debug_tool.hpp -------------------------------------------------------------------------------- /src/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/CMakeLists.txt -------------------------------------------------------------------------------- /src/algorithm/README.md: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/README.md -------------------------------------------------------------------------------- /src/algorithm/offline_scurve_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/offline_scurve_planner.cpp -------------------------------------------------------------------------------- /src/algorithm/online_scurve_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/online_scurve_planner.cpp -------------------------------------------------------------------------------- /src/algorithm/planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/planner.cpp -------------------------------------------------------------------------------- /src/algorithm/ruckig_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/ruckig_planner.cpp -------------------------------------------------------------------------------- /src/algorithm/scurve_planner.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/scurve_planner.cpp -------------------------------------------------------------------------------- /src/algorithm/time_optimal_trajectory_generation.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/time_optimal_trajectory_generation.cpp -------------------------------------------------------------------------------- /src/algorithm/trajectory.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/algorithm/trajectory.cpp -------------------------------------------------------------------------------- /src/axis/axis.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/axis/axis.cpp -------------------------------------------------------------------------------- /src/axis/motion_kernel.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/axis/motion_kernel.cpp -------------------------------------------------------------------------------- /src/demo/RT_single_axis_move_relative.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/demo/RT_single_axis_move_relative.cpp -------------------------------------------------------------------------------- /src/demo/multi-axis.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/demo/multi-axis.cpp -------------------------------------------------------------------------------- /src/demo/single_axis_move_relative.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/demo/single_axis_move_relative.cpp -------------------------------------------------------------------------------- /src/fb/execution_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/execution_node.cpp -------------------------------------------------------------------------------- /src/fb/fb_axis_motion.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_axis_motion.cpp -------------------------------------------------------------------------------- /src/fb/fb_axis_node.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_axis_node.cpp -------------------------------------------------------------------------------- /src/fb/fb_axis_read.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_axis_read.cpp -------------------------------------------------------------------------------- /src/fb/fb_base.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_base.cpp -------------------------------------------------------------------------------- /src/fb/fb_halt.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_halt.cpp -------------------------------------------------------------------------------- /src/fb/fb_move_absolute.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_move_absolute.cpp -------------------------------------------------------------------------------- /src/fb/fb_move_additive.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_move_additive.cpp -------------------------------------------------------------------------------- /src/fb/fb_move_relative.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_move_relative.cpp -------------------------------------------------------------------------------- /src/fb/fb_move_velocity.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_move_velocity.cpp -------------------------------------------------------------------------------- /src/fb/fb_power.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_power.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_actual_position.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_actual_position.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_actual_velocity.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_actual_velocity.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_axis_error.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_axis_error.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_command_position.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_command_position.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_command_velocity.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_command_velocity.cpp -------------------------------------------------------------------------------- /src/fb/fb_read_status.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_read_status.cpp -------------------------------------------------------------------------------- /src/fb/fb_reset.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_reset.cpp -------------------------------------------------------------------------------- /src/fb/fb_stop.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/fb/fb_stop.cpp -------------------------------------------------------------------------------- /src/servo/servo.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/servo/servo.cpp -------------------------------------------------------------------------------- /src/tool/fb_debug_tool.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/src/tool/fb_debug_tool.cpp -------------------------------------------------------------------------------- /test/CMakeLists.txt: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/CMakeLists.txt -------------------------------------------------------------------------------- /test/function_block_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/function_block_test.cpp -------------------------------------------------------------------------------- /test/get_clock_time_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/get_clock_time_test.cpp -------------------------------------------------------------------------------- /test/offline_scurve_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/offline_scurve_test.cpp -------------------------------------------------------------------------------- /test/online_scurve_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/online_scurve_test.cpp -------------------------------------------------------------------------------- /test/planner_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/planner_test.cpp -------------------------------------------------------------------------------- /test/rdtsc_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/rdtsc_test.cpp -------------------------------------------------------------------------------- /test/uranus_test.cpp: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/leijian001/plcopen_motion_control/HEAD/test/uranus_test.cpp --------------------------------------------------------------------------------