PathTrajectorySegment(paths: List<Path> = emptyList(), trajectoryConstraintsList: List<TrajectoryConstraints> = emptyList(), start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(paths.sumByDouble { it.length() }, 0.0, 0.0), resolution: Double = 0.25)
trajectoryConstraintsList - list of trajectory constraints
goal - profile goal (end) state
resolution - resolution for the motion profile
PathTrajectorySegment(path: Path, trajectoryConstraints: TrajectoryConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), resolution: Double = 0.25)
trajectoryConstraints - trajectory constraints
resolution - resolution for the motion profile
PathTrajectorySegment(paths: List<Path> = emptyList(), constraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(paths.sumByDouble { it.length() }, 0.0, 0.0, 0.0))
constraints - drive constraints
PathTrajectorySegment(path: Path, constraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0, 0.0))
constraints - drive constraints
PathTrajectorySegment(paths: List<Path>, profile: MotionProfile)
Trajectory segment backed by a list of Path objects.