forward
fun forwardProfile(length: Double, beginVel: Double, maxVel: (Double) -> Double, maxAccel: (Double) -> Double, resolution: Double): DisplacementProfile
Computes an approximately time-optimal forward profile by sampling the constraints according to the resolution resolution. No restriction is imposed on the minimum acceleration.
Parameters
begin
beginning velocity, non-negative
max
always returns positive
max
always returns positive
fun forwardProfile(disps: List<Double>, beginVel: Double, maxVels: List<Double>, maxAccels: List<Double>): DisplacementProfile
Computes an approximately time-optimal forward profile from the center-sampled constraints. No restriction is imposed on the minimum acceleration.
The procedure uses a variant of the approach described in section 14.6.3.5 of LaValle's excellent book on planning.
Parameters
disps
displacement interval endpoints
begin
beginning velocity, non-negative
max
all positive
max
all positive
fun forwardProfile(path: PosePath, beginVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint, dispResolution: Double, angResolution: Double): DisplacementProfile