generate
fun generate(params: ProfileParams, path: PosePath, beginEndVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint): CancelableProfile
Creates a path-based cancelable profile using the given constraints.
Return
CancelableProfile optimized for the given path and constraints
Parameters
params
Profile generation parameters
path
The path to follow
begin
Beginning and ending velocity (must be the same to guarantee feasibility)
vel
Velocity constraint function
accel
Acceleration constraint function