poly2traj

版本 1.5.0 (32.8 KB) 作者: Zain Ahmed
This function creates a polynomial by specifying initial, and final conditions and durations.
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更新时间 2023/8/16

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To use it, you need to specify an initial and a final condition also specify time in seconds.
It is Important that both inital and final conditon vectors starts with the lowest order.
An initial condtion vector of this [1 2 3] means the initial position is 1, the initial velocity is 2 and the initial acceleration is 3
it is also important that both vectors have the same lenght other wise it will not work
it is important to specify time in seconds as it determine to generate a smooth path.
Also, dont forget that the n size vector will corresponds to 2n-1 order polynomial.
example an inital condition of [1 2 3] and final condition of [4 5 6] will yeald a quintic polynomial.
an inital conditon of [1 2] and [3 4] will result a cubic polynomials.
note that a quadradic and any even order polynomial are not possible as this require unbalanced numbers of elements on each vector.

引用格式

Zain Ahmed (2024). poly2traj (https://www.mathworks.com/matlabcentral/fileexchange/133167-poly2traj), MATLAB Central File Exchange. 检索来源 .

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版本 已发布 发行说明
1.5.0

Added assertion if something is wrong
1.0.0