generateSimpleMotionProfile
fun generateSimpleMotionProfile(start: MotionState, goal: MotionState, maxVel: Double, maxAccel: Double, maxJerk: Double = 0.0, overshoot: Boolean = false): MotionProfile
Generates a simple motion profile with constant maxVel, maxAccel, and maxJerk. If maxJerk is zero, an acceleration-limited profile will be generated instead of a jerk-limited one. If constraints can't be obeyed, there are two possible fallbacks: If overshoot is true, then two profiles will be concatenated (the first one overshoots the goal and the second one reverses back to reach the goal). Otherwise, the highest order constraint (e.g., max jerk for jerk-limited profiles) is repeatedly violated until the goal is achieved.
Parameters
start
start motion state
goal
goal motion state
maxVel
maximum velocity
maxAccel
maximum acceleration
maxJerk
maximum jerk
overshoot
if true overshoot otherwise violate constraints (see description above)