Regular API function


Description Generates a time optimal trajectory, based on the TOPPRA library. See also the other path related functions.
C synopsis
C parameters
C return value
Lua synopsis table[] outputPath,table[] times=sim.generateTimeOptimalTrajectory(table[] path,table[] pathLengths,table[] minMaxVel,table[] 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
Lua return values
outputPath: the generated path