generatePathTrajectorySegment
fun generatePathTrajectorySegment(path: Path, velocityConstraint: TrajectoryVelocityConstraint, accelerationConstraint: TrajectoryAccelerationConstraint, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), resolution: Double = 0.25): PathTrajectorySegment
Generates a dynamic constraint path trajectory segment.
Parameters
path
path
velocityConstraint
trajectory velocity constraints
accelerationConstraint
trajectory acceleration constraints
start
start motion state
goal
goal motion state
resolution
dynamic profile sampling resolution