object TrajectoryGenerator (source)
Trajectory generator for creating trajectories with dynamic and static constraints from paths.
generateSimpleTrajectory |
Generate a simple constraint trajectory. fun generateSimpleTrajectory(path: Path, maxProfileVel: Double, maxProfileAccel: Double, maxProfileJerk: Double, 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(), displacementMarkers: List<DisplacementMarker> = emptyList(), spatialMarkers: List<SpatialMarker> = emptyList()): Trajectory |
generateTrajectory |
Generate a dynamic constraint trajectory. fun generateTrajectory(path: Path, velocityConstraint: TrajectoryVelocityConstraint, accelerationConstraint: TrajectoryAccelerationConstraint, start: MotionState = MotionState(0.0, 0.0, 0.0), goal: MotionState = MotionState(path.length(), 0.0, 0.0), temporalMarkers: List<TemporalMarker> = emptyList(), displacementMarkers: List<DisplacementMarker> = emptyList(), spatialMarkers: List<SpatialMarker> = emptyList(), resolution: Double = 0.25): Trajectory |