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