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ctraj

Cartesian trajectory between two points

Calling Sequence

TC = CTRAJ(T0, T1, N)
TC = CTRAJ(T0, T1, S)

Description

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.

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