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lspb

Linear segment with parabolic blend

Calling Sequence

[S,SD,SDD] = LSPB(S0, SF, M)
[S,SD,SDD] = LSPB(S0, SF, M, V)
[S,SD,SDD] = LSPB(S0, SF, T)
[S,SD,SDD] = LSPB(S0, SF, T, V)
[S,SD,SDD] = LSPB(S0, SF, M,'plot')
[S,SD,SDD] = LSPB(S0, SF, M, V,'plot')

Description

[S,SD,SDD] = LSPB(S0, SF, M) is a scalar trajectory (Mx1) that varies smoothly from S0 to SF in M steps using a constant velocity segment and parabolic blends (a trapezoidal path). Velocity and acceleration can be optionally returned as SD (Mx1) and SDD (Mx1).

[S,SD,SDD] = LSPB(S0, SF, M, V) as above but specifies the velocity of the linear segment which is normally computed automatically.

[S,SD,SDD] = LSPB(S0, SF, T) as above but specifies the trajectory in terms of the length of the time vector T (Mx1).

[S,SD,SDD] = LSPB(S0, SF, T, V) as above but specifies the velocity of the linear segment which is normally computed automatically and a time vector.

Notes

See also

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