Function mav_trajectory_generation::estimateSegmentTimesVelocityRamp

• Defined in File vertex.h

Function Documentation

std::vector<double> mav_trajectory_generation::estimateSegmentTimesVelocityRamp(const Vertex::Vector &vertices, double v_max, double a_max, double time_factor = 1.0)

Calculate the velocity assuming instantaneous constant acceleration a_max and straight line rest-to-rest trajectories.

The time_factor [1..Inf] increases the allocated time making the segments slower and thus feasibility more likely. This method does not take into account the start and goal velocity and acceleration.