M-File Help: tpoly View code for tpoly

tpoly

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).

[s,sd,sdd] = tpoly(s0, sf, T) as above but specifies the trajectory in terms of the length of the time vector T (Mx1).

Notes


 

© 1990-2012 Peter Corke.