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# lspb

Linear segment with parabolic blend

[s,sd,sdd] = lspb(s0, sf, m) is a scalar trajectory (Mx1) that varies smoothly from s0 to sf in m steps using a constant velocity segment and parabolic blends (a trapezoidal path). Velocity and acceleration can be optionally returned as sd (Mx1) and sdd (Mx1).

[s,sd,sdd] = lspb(s0, sf, m, v) as above but specifies the velocity of the linear segment which is normally computed automatically.

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

[s,sd,sdd] = lspb(s0, sf, T, v) as above but specifies the velocity of the linear segment which is normally computed automatically and a time vector.

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

## Notes

- For some values of V no solution is possible and an error is flagged.

## References

- Robotics, Vision & Control, Chap 3, P. Corke, Springer 2011.

## See also

tpoly, jtraj

© 1990-2014 Peter Corke.