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52 lines
1.7 KiB
52 lines
1.7 KiB
%CTRAJ Cartesian trajectory between two points
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%
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% TC = CTRAJ(T0, T1, N) is a Cartesian trajectory (4x4xN) from pose T0 to T1
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% with N points that follow a trapezoidal velocity profile along the path.
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% The Cartesian trajectory is a homogeneous transform sequence and the last
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% subscript being the point index, that is, T(:,:,i) is the i'th point along
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% the path.
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%
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% TC = CTRAJ(T0, T1, S) as above but the elements of S (Nx1) specify the
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% fractional distance along the path, and these values are in the range [0 1].
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% The i'th point corresponds to a distance S(i) along the path.
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%
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% See also LSPB, MSTRAJ, TRINTERP, Quaternion.interp, TRANSL.
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% Copyright (C) 1993-2011, by Peter I. Corke
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%
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% This file is part of The Robotics Toolbox for Matlab (RTB).
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%
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% RTB is free software: you can redistribute it and/or modify
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% it under the terms of the GNU Lesser General Public License as published by
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% the Free Software Foundation, either version 3 of the License, or
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% (at your option) any later version.
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%
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% RTB is distributed in the hope that it will be useful,
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% but WITHOUT ANY WARRANTY; without even the implied warranty of
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% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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% GNU Lesser General Public License for more details.
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%
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% You should have received a copy of the GNU Leser General Public License
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% along with RTB. If not, see <http://www.gnu.org/licenses/>.
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function traj = ctraj(T0, T1, t)
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if ~ishomog(T0) || ~ishomog(T1)
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error('arguments must be homogeneous transformations');
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end
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% distance along path is a smooth function of time
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if isscalar(t)
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s = lspb(0, 1, t);
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else
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s = t(:);
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end
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traj = [];
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for S=s'
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traj = cat(3, traj, trinterp(T0, T1, S));
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end
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