/// <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);
}
