19 lines
500 B
Matlab
19 lines
500 B
Matlab
function s = CubicTimeScaling(Tf, t)
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% *** CHAPTER 9: TRAJECTORY GENERATION ***
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% Takes Tf: Total time of the motion in seconds from rest to rest,
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% t: The current time t satisfying 0 < t < Tf.
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% Returns s: The path parameter s(t) corresponding to a third-order
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% polynomial motion that begins and ends at zero velocity.
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% Example Input:
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%
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% clear; clc;
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% Tf = 2;
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% t = 0.6;
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% s = CubicTimeScaling(Tf,t)
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%
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% Output:
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% s =
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% 0.2160
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s = 3 * (t / Tf) ^ 2 - 2 * (t / Tf) ^ 3;
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end |