core / com.acmerobotics.roadrunner.trajectory / TrajectoryGenerator / generateTrajectory

generateTrajectory

@JvmOverloads fun generateTrajectory(path: Path, trajectoryConstraints: TrajectoryConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), temporalMarkers: List<TemporalMarker> = emptyList(), spatialMarkers: List<SpatialMarker> = emptyList(), resolution: Double = 0.25): Trajectory

Generate a dynamic constraint trajectory.

Parameters

path - path

trajectoryConstraints - trajectory constraints

start - start motion state

goal - goal motion state

temporalMarkers - temporal markers

spatialMarkers - spatial markers

resolution - dynamic profile sampling resolution