/// <summary> /// Creates the plan connecting coordinates by ramped lines. /// </summary> /// <param name="trajectory">Trajectory which plan will be created.</param> /// <returns>The created plan.</returns> public PlanBuilder CreateRampedPlan(Trajectory4D trajectory) { var planBuilder = new PlanBuilder(); iterateDistances(trajectory, (p, x, y) => planBuilder.AddRampedLineXY(x, y, Configuration.MaxPlaneAcceleration, Configuration.MaxPlaneSpeed)); return(planBuilder); }