object TrajectoryGenerator
Trajectory generator for creating trajectories with dynamic and static constraints from paths.
fun generateSimpleTrajectory(path: Path, driveConstraints: DriveConstraints, start: MotionState = MotionState(0.0, 0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0, 0.0), temporalMarkers: List<TemporalMarker> = emptyList(), spatialMarkers: List<SpatialMarker> = emptyList()): Trajectory
Generate a simple constraint trajectory. |
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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. |