Linear segment with parabolic blend
[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')
[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.
If no output arguments are specified S, SD, and SDD are plotted.
For some values of V no solution is possible and an error is flagged.