Getting Started — Simple Examples

Download the Type II Reflexxes Motion Library

You can freely download the Type II Reflexxes Motion Library featuring its entire set of functionalities without limitations.

The provided files contain six simple ready-to-compile sample applications that were written in order to demonstrate the clear and simple API of ReflexxesAPI (two methods only). If you have not downloaded the Reflexxes Motion Libraries yet, please refer to the download instructions.

To get started without a any big effort, a set of basic sample applications has been prepared, all of which are fully documented. The provided source code of these samples is meant to be very simple and self-explaining.

• Example 1 — Introduction to the Position-based algorithm
  A first application using the position-based Online Trajectory Generation (OTG) algorithm:
  • Setting-up input values RMLPositionInputParameters and
  • calling the algorithm ReflexxesAPI::RMLPosition().
    
    
• Example 2 — Making Use of Output Parameters of the Position-based algorithm
  The same as 01_RMLPositionSampleApplication.cpp but in addition, the entire set of output values of the algorithm are used and described:
  • making use of all output values RMLPositionOutputParameters.
    
    
• Example 3 — Different Synchronization Behaviors of the Position-based algorithm
  This sample application shows the difference between time- and phase-synchronized motion trajectories and how they can be specified (cf. Synchronization Behavior):
  • making use of the flag RMLFlags::SynchronizationBehavior.
    
    
• Example 4 — Introduction to the Velocity-based algorithm
  Similar to 01_RMLPositionSampleApplication.cpp; a first application using the velocity-based Online Trajectory Generation algorithm:
  • Setting-up input values RMLVelocityInputParameters and
  • calling the algorithm ReflexxesAPI::RMLVelocity().
    
    
• Example 5 — Making Use of Output Parameters of the Velocity-based algorithm
  Similar to 02_RMLPositionSampleApplication.cpp; the same as 04_RMLVelocitySampleApplication.cpp but in addition, the entire set of output values of the algorithm are used and described:
  • making use of all output values RMLVelocityOutputParameters.
    
    
• Example 6 — Different Synchronization Behaviors of the Velocity-based algorithm
  Similar to 04_RMLVelocitySampleApplication.cpp, but here, a time-synchronized trajectory is generated:
  • making use of the flag RMLFlags::SynchronizationBehavior.
    
    
• Example 7 — Making Use of the Optional Parameter MinimumSynchronizationTime for the Position-based Algorithm
  The same as Example 2 but in addition,
  • the optional input value RMLInputParameters::MinimumSynchronizationTime is used and described.
    
    
• Example 8 — Making Use of the Optional Parameter MinimumSynchronizationTime for the Velocity-based Algorithm
  The same as Example 5 but in addition,
  • the optional input value RMLInputParameters::MinimumSynchronizationTime is used and described.
    
    

All resulting trajectories are shown together with the source code files. Within a source code file, you may click on the links of the used data structures to learn more about the Reflexxes API.