Scalar polynomial trajectory
[S,SD,SDD] = tpoly(S0, SF, M) [S,SD,SDD] = tpoly(S0, SF, T) [S,SD,SDD] = tpoly(S0, SF, N, SD0, SDF) [S,SD,SDD] = tpoly(S0, SF, T, SD0, SDF)
[S,SD,SDD] = TPOLY(S0, SF, M)
is a scalar trajectory (Mx1) that varies smoothly
from S0 to SF in M steps using a quintic (5th order) polynomial.
Velocity and acceleration can be optionally returned as SD (Mx1)
and SDD (Mx1).
[S,SD,SDD] = TPOLY(S0, SF, T)
as above but specifies
the trajectory in terms of the length of the time vector T (Mx1).
[S,SD,SDD] = TPOLY(S0, SF, N, SD0, SDF)
as above
but specifies initial and final joint velocity for the trajectory.
[S,SD,SDD] = TPOLY(S0, SF, T, SD0, SDF)
as above
but specifies initial and final joint velocity for the trajectory
and time vector T.
In all cases if no output arguments are specified S, SD, and SDD are plotted against time.