RuckigJava

Pure-Java port of the Ruckig Community online trajectory generation library (MIT license).

Drop this repo into any Java project (Gradle composite build, git submodule, or copy the src/main/java tree). It has no runtime dependencies beyond the JDK.

See PORTING_LOG.md for file-by-file mapping and DIVERGENCES.md for intentional/known differences (expected empty for a faithful transliteration).

Module rules

• Java 8 source/target compatibility.
• Zero dependencies beyond the JDK at runtime.
• Transliteration, not reimplementation — names, control flow, and FP operation order match upstream so golden-vector tests stay meaningful.
• Steady-state Ruckig.update is designed for zero allocation (preallocated profiles/blocks).

Build & test

./gradlew test

Golden vectors

Generators live under tools/:

• tools/generate_golden.py — preferred when the upstream Python package is available
• tools/generate_golden_cpp.cpp — offline C++ harness against vendored Ruckig headers

Checked-in goldens: src/test/resources/golden/.

Public API (Community)

Ruckig otg = new Ruckig(1, /*delta_time*/ 0.01);
InputParameter input = new InputParameter(1);
OutputParameter output = new OutputParameter(1);

input.current_position[0] = 0;
input.target_position[0] = 1;
input.max_velocity[0] = 2;
input.max_acceleration[0] = 2;
input.max_jerk[0] = 4;

int result = otg.update(input, output);
// output.new_position / new_velocity / new_acceleration

License

MIT — see LICENSE (upstream copyright retained).