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
beginEndVel
beginning and ending velocity, non-negative (must be the same to guarantee feasibility)
maxVel
always returns positive
minAccel
always returns negative
maxAccel
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
beginEndVel
beginning and ending velocity (must be the same to guarantee feasibility)
maxVels
all positive
minAccels
all negative
maxAccels
all positive
fun profile( path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint, dispResolution: Double, angResolution: Double): CancelableProfile