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Generate scalar polynomial trajectory
[s,sd,sdd] = tpoly(s0, sf, m) is a scalar trajectory (Mx1) that varies smoothly from s0 to sf in m steps using a quintic (5th order) polynomial. Velocity and acceleration can be optionally returned as sd (Mx1) and sdd (Mx1) respectively.
tpoly(s0, sf, m) as above but plots s, sd and sdd versus time in a single figure.
[s,sd,sdd] = tpoly(s0, sf, T) as above but the trajectory is computed at each point in the time vector T (Mx1).
[s,sd,sdd] = tpoly(s0, sf, T, qd0, qd1) as above but also specifies the initial and final velocity of the trajectory.
Reference:
Robotics, Vision & Control Chap 3 Springer 2011
© 1990-2014 Peter Corke.