generateMotionProfile
fun generateMotionProfile(start: MotionState, goal: MotionState, velocityConstraint: VelocityConstraint, accelerationConstraint: AccelerationConstraint, resolution: Double = 0.25): MotionProfile
Generates a motion profile with dynamic maximum velocity and acceleration. Uses the algorithm described in section 3.2 of Sprunk2008.pdf. Warning: Profiles may be generated incorrectly if the endpoint velocity/acceleration values preclude the obedience of the motion constraints. To protect against this, verify the continuity of the generated profile or keep the start and goal velocities at 0.
Parameters
start
start motion state
goal
goal motion state
velocityConstraint
velocity constraints
accelerationConstraint
acceleration constraints
resolution
separation between constraint samples