profile
fun profile( length: Double, beginEndVel: Double, maxVel: (Double) -> Double, minAccel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): CancelableProfile
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Computes an approximately time-optimal profile by sampling the constraints according to the resolution resolution.
Parameters
begin
beginning and ending velocity, non-negative (must be the same to guarantee feasibility)
max
always returns positive
min
always returns negative
max
always returns positive
fun profile( disps: List<Double>, beginEndVel: Double, maxVels: List<Double>, minAccels: List<Double>, maxAccels: List<Double>): CancelableProfile
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Computes an approximately time-optimal profile from center-sampled constraints.
Parameters
begin
beginning and ending velocity (must be the same to guarantee feasibility)
max
all positive
min
all negative
max
all positive
fun profile( path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint, resolution: Double): CancelableProfile
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