Function cartesian_trajectories::generate_s_curve_profile

pub fn generate_s_curve_profile(
    total_length: f64, 
    constraints: SCurveConstraints
) -> VelocityProfileMapping

creates an S-Curve velocity profile which is subject to jerk, acceleration and velocity constraints

Arguments

• total_length - a rough estimation of the total length of the PoseGenerator. Use get_approximate_length
• constraints - jerk, acceleration and velocity constraints for the trajectory