Real-Time Behavior

Worst-Case Execution Time

The On-Line Trajectory Generation algorithms (OTG) of the Reflexxes Motion Libraries are real-time capable, that is, a worst-case execution time will not be exceeded in any case. To achieve this, the two basic methods of the Reflexxes API (cf. References to All Classes of the Reflexxes API)

• ReflexxesAPI::RMLPosition() and
  
  
• ReflexxesAPI::RMLVelocity()
  
  

execute a limited number of operations. In all cases, the worst-case execution time scales linearly with the number of selected degrees of freedom, such that a complexity of results, where is the number of degrees of freedom.

Non-Real-Time Capable Parts

Warning:

Please also note, that all constructors of all Reflexxes classes are not real-time capable as heap memory has to be allocated. As a consequence, all Reflexxes objects have to be created during a start-up phase of the control system and deleted during a shutdown phase.

List of all constructors:

• ReflexxesAPI::ReflexxesAPI()
• RMLPositionInputParameters::RMLPositionInputParameters()
• RMLVelocityInputParameters::RMLVelocityInputParameters()
• RMLPositionOutputParameters::RMLPositionOutputParameters()
• RMLVelocityOutputParameters::RMLVelocityOutputParameters()
• RMLPositionFlags::RMLPositionFlags()
• RMLVelocityFlags::RMLVelocityFlags()
• RMLVector::RMLVector()