Lua
synopsis
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float[] outputPath,float[] times=sim.generateTimeOptimalTrajectory(float[] path,float[] pathLengths,float[] minMaxVel,float[] minMaxAccel,int trajPtSamples=1000,string boundaryCondition='not-a-knot',float timeout=5) |
Lua
parameters |
path: the path, specified in row-major order, e.g. a path containing two 3D positions would be {x1,y1,z1,x2,y2,z2}
pathLengths: the lengths of a path. Each path point should have a corresponding length value (as the distance from the path's first point, along the path). See also sim.getPathLengths.
minMaxVel: the minimum and maximum allowed velocity, for each dimension/axis, e.g. {xmin,xmax,ymin,ymax,zmin,zmax}
minMaxAccel: the minimum and maximum allowed acceleration, for each dimension/axis, e.g. {xmin,xmax,ymin,ymax,zmin,zmax}
trajPtSamples: the desired number of path points/configurations
boundaryCondition: the boundary condition
timeout: a timeout duration
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Python
synopsis |
list outputPath,list times=sim.generateTimeOptimalTrajectory(list path,list pathLengths,list minMaxVel,list minMaxAccel,int trajPtSamples=1000,string boundaryCondition='not-a-knot',float timeout=5) |
