backward
fun backwardProfile( length: Double, maxVel: (Double) -> Double, endVel: Double, minAccel: (Double) -> Double, resolution: Double): DisplacementProfile
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Computes an approximately time-optimal backward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.
Parameters
max
always returns positive
end
ending velocity, non-negative
min
always returns negative
fun backwardProfile( disps: List<Double>, maxVels: List<Double>, endVel: Double, minAccels: List<Double>): DisplacementProfile
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Computes an approximately time-optimal backward profile from the center-sampled constraints. No restriction is imposed on the maximum acceleration.
Parameters
disps
displacement interval endpoints
max
all positive
end
ending velocity, non-negative
min
all negative
fun backwardProfile( path: PosePath, velConstraint: VelConstraint, endVel: Double, accelConstraint: AccelConstraint, resolution: Double): DisplacementProfile
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