Cartesian trajectory between two points
TC = CTRAJ(T0, T1, N) TC = CTRAJ(T0, T1, S)
TC = CTRAJ(T0, T1, N)
is a Cartesian trajectory (4x4xN) from pose T0 to T1
with N points that follow a trapezoidal velocity profile along the path.
The Cartesian trajectory is a homogeneous transform sequence and the last
subscript being the point index, that is, T(:,:,i) is the i'th point along
the path.
TC = CTRAJ(T0, T1, S)
as above but the elements of S (Nx1) specify the
fractional distance along the path, and these values are in the range [0 1].
The i'th point corresponds to a distance S(i) along the path.