generate
fun generate(params: ProfileParams, path: PosePath, beginVel: Double, velConstraint: VelConstraint, accelConstraint: AccelConstraint): DisplacementProfile
Creates an optimal displacement profile using forward and backward passes. This is the main entry point for generating time-optimal profiles.
Return
DisplacementProfile 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