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