Generate a reference velocity profile for a path satisfying speed, acceleration, and jerk constraints.\n\nThe Directions

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Generate a reference velocity profile for a path satisfying speed, acceleration, and jerk constraints.\n\nThe Directions, CumLengths and Curvatures inports accept M-by-1 signals representing driving directions (1 for forward, -1 for reverse), cumulative path lengths and curvatures along the path, respectively. The StartVelocity and EndVelocity inports both accept a scalar signal representing the starting and the ending longitudinal velocities of the vehicle, respectively.\n\nThe Velocities port outputs an M-by-1 signal representing the velocity corresponding to each cumulative path length in CumLengths. The optional output port Times outputs the time of arrival corresponding to each value in Velocities


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