generate
fun generate(params: ProfileParams, path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint): CancelableProfile
Creates a path-based cancelable profile using the given constraints.
Return
CancelableProfile optimized for the given path and constraints
Parameters
params
Profile generation parameters
path
The path to follow
beginEndVel
Beginning and ending velocity (must be the same to guarantee feasibility)
velConstraint
Velocity constraint function
accelConstraint
Acceleration constraint function