Constructor Detail

Method Detail

• constantProfile

   final static CancelableProfile constantProfile(Double length, Double beginEndVel, Double maxVel, Double minAccel, Double maxAccel)

  Computes an exact, time-optimal profile.

  Parameters:

  beginEndVel - beginning and ending velocity (must be the same to guarantee feasibility)

  maxVel - positive

  minAccel - negative

  maxAccel - positive

• profile

   final static CancelableProfile profile(Double length, Double beginEndVel, Function1<Double, Double> maxVel, Function1<Double, Double> minAccel, Function1<Double, Double> maxAccel, Double resolution)

  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

• profile

   final static CancelableProfile profile(List<Double> disps, Double beginEndVel, List<Double> maxVels, List<Double> minAccels, List<Double> maxAccels)

  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

• profile

   final static CancelableProfile profile(ProfileParams params, PosePath path, Double beginEndVel, VelConstraint velConstraint, AccelConstraint accelConstraint)

• forwardProfile

   final static DisplacementProfile forwardProfile(Double length, Double beginVel, Function1<Double, Double> maxVel, Function1<Double, Double> maxAccel, Double resolution)

  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:

  beginVel - beginning velocity, non-negative

  maxVel - always returns positive

  maxAccel - always returns positive

• forwardProfile

   final static DisplacementProfile forwardProfile(List<Double> disps, Double beginVel, List<Double> maxVels, List<Double> maxAccels)

  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

  beginVel - beginning velocity, non-negative

  maxVels - all positive

  maxAccels - all positive

• forwardProfile

   final static DisplacementProfile forwardProfile(ProfileParams params, PosePath path, Double beginVel, VelConstraint velConstraint, AccelConstraint accelConstraint)

• backwardProfile

   final static DisplacementProfile backwardProfile(Double length, Function1<Double, Double> maxVel, Double endVel, Function1<Double, Double> minAccel, Double resolution)

  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:

  maxVel - always returns positive

  endVel - ending velocity, non-negative

  minAccel - always returns negative

• backwardProfile

   final static DisplacementProfile backwardProfile(List<Double> disps, List<Double> maxVels, Double endVel, List<Double> minAccels)

  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

  maxVels - all positive

  endVel - ending velocity, non-negative

  minAccels - all negative

• backwardProfile

   final static DisplacementProfile backwardProfile(ProfileParams params, PosePath path, VelConstraint velConstraint, Double endVel, AccelConstraint accelConstraint)

• merge

   final static DisplacementProfile merge(DisplacementProfile p1, DisplacementProfile p2)

  Merges p1 and p2 into another profile with the minimum velocity of the two at every point.

• samplePathByRotation

   final static List<Double> samplePathByRotation(PosePath path, Double angResolution, Double eps)