generate
fun generateForwardProfile(disps: List<Double>, beginVel: Double, maxVels: List<Double>, maxAccels: List<Double>): DisplacementProfile
Generates a forward displacement profile by enforcing velocity and acceleration constraints. Uses a greedy approach to maximize velocity while respecting constraints.
Return
Forward displacement profile
Parameters
disps
Displacement interval endpoints
begin
Beginning velocity (non-negative)
max
Maximum velocities at each displacement (all positive)
max
Maximum accelerations at each displacement (all positive)