Ruckig

Ruckig ensures the fastest possible motion between states within kinematic limits, as demonstrated in benchmarks where it outperforms Reflexxes Type IV by more than twice the speed for state-to-state motions.

It computes trajectories on-the-fly within control cycles as low as 250 microseconds, allowing robots to instantaneously react to sensor input in dynamic environments.

By limiting jerk, it produces physically feasible movements that reduce mechanical wear and improve motion quality, a key feature highlighted in its RSS-accepted paper.

Supports custom vector types like Eigen and user-defined templates, making it easy to adapt to various C++ codebases without forcing dependency on specific libraries.