sim.generateTimeOptimalTrajectory

Generates a time optimal trajectory, based on the TOPPRA library

Synopsis

list outP, list times, int scriptHandle = sim.generateTimeOptimalTrajectory(list path, list pathLengths, 
                                                          list minMaxVel, list minMaxAccel, 
                                                          int trajPtSamples = 1000, 
                                                          string boundaryCondition = 'not-a-knot', 
                                                          float timeout = 5, 
                                                          int calculationScriptHandle = None)

float[] outP, float[] times, int scriptHandle = sim.generateTimeOptimalTrajectory(float[] path, 
                                                                float[] pathLengths, 
                                                                float[] minMaxVel, 
                                                                float[] minMaxAccel, 
                                                                int trajPtSamples = 1000, 
                                                                string boundaryCondition = 'not-a-knot', 
                                                                float timeout = 5, 
                                                                int calculationScriptHandle = nil)

Arguments

path: path, specified in row-major order, e.g. a path containing two 3D positions would be [x1 y1 z1 x2 y2 z2]
pathLengths: 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: minimum and maximum allowed velocity, for each dimension/axis, e.g. {xmin,xmax,ymin,ymax,zmin,zmax}
minMaxAccel: minimum and maximum allowed acceleration, for each dimension/axis, e.g. [xmin xmax ymin ymax zmin zmax]
trajPtSamples: desired number of path points/configurations
boundaryCondition: boundary condition
timeout: a timeout duration
calculationScriptHandle: optional. Can indicate a script handle returned in a previous call to this function, including -1 to indicate that the created calculation script should be returned for future reuse

Return values

outP: generated path points
times: generated times corresponding to path points
scriptHandle: the handle of the calculation script for reuse in a subsequent call to this function