backwardProfile
fun backwardProfile(length: Double, maxVel: (Double) -> Double, endVel: Double, minAccel: (Double) -> Double, resolution: Double): DisplacementProfile
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
fun backwardProfile(disps: List<Double>, maxVels: List<Double>, endVel: Double, minAccels: List<Double>): DisplacementProfile
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
fun backwardProfile(params: ProfileParams, path: PosePath, velConstraint: VelConstraint, endVel: Double, accelConstraint: AccelConstraint): DisplacementProfile