ruckig motion planning

24 may 2023

motivation

as i had to maintain a motion planning library in the past, i was freaked to find ruckig library. see also https://arxiv.org/pdf/2105.04830.pdf.

i wanted to use it in the browser, so i compiled using emscripten and used plotly.js for the UI. the result can be found here: https://github.com/qknight/ruckig/tree/15_visualizer

current_position:

current_velocity:

current_acceleration:

target_position:

target_velocity:

target_acceleration:

max_jerk:

max_velocity:

max_acceleration:

oh snap…

tbd

note: above should be a plotly.js graph, if not, it might not work in your browser.

i’ve documented the process in the README.md and using the docker image from emscripten is is now trivial to kick off!

this work shines because of the quality of emscripten! compiling c/c++ code to javascript, even with cmake, is blazingly easy.

oh, and since you are still here, my favourite video in this regard is https://www.youtube.com/watch?v=KPoeNZZ6H4s!