backward Profile
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 Vel
always returns positive
end Vel
ending velocity, non-negative
min Accel
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 Vels
all positive
end Vel
ending velocity, non-negative
min Accels
all negative
fun backwardProfile( path: PosePath, velConstraint: VelConstraint, endVel: Double, accelConstraint: AccelConstraint, resolution: Double): DisplacementProfile
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