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Compute a joint space trajectory between two points
[q,qd,qdd] = jtraj(q0, qf, m, qd0, qdf) as above but also specifies initial and final joint velocity for the trajectory. [q,qd,qdd] = jtraj(q0, qf, T, qd0, qdf) as above but specifies initial and final joint velocity for the trajectory and a time vector.© 1990-2011 Peter Corke.