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mstraj

Multi-segment multi-axis trajectory

traj = mstraj(p, qdmax, q0, dt, tacc, options) is a multi-segment trajectory (KxN) based on via points p (MxN) and axis velocity limits qdmax (1xN). The path comprises linear segments with polynomial blends. The output trajectory matrix has one row per time step, and one column per axis.

traj = mstraj(segments, qdmax, q0, dt, tacc, qd0, qdf, options) as above but additionally specifies the initial and final axis velocities (1xN).

Options

'verbose' Show details.

Notes

See also

mstraj, lspb, ctraj


 

© 1990-2012 Peter Corke.