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# tpoly

Generate scalar polynomial trajectory

[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).

tpoly(s0, sf, m) as above but plots s, sd and sdd versus time in a single figure.

[s,sd,sdd] = tpoly(s0, sf, T) as above but specifies the trajectory in terms of the length of the time vector T (Mx1).

Reference:

Robotics, Vision & Control Chap 3 Springer 2011

## See also

lspb, jtraj

© 1990-2014 Peter Corke.