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# ctraj

Cartesian trajectory between two poses

tc = ctraj(T0, T1, n) is a Cartesian trajectory (4x4xN) from pose T0 to T1 with n points that follow a trapezoidal velocity profile along the path. The Cartesian trajectory is a homogeneous transform sequence and the last subscript being the point index, that is, T(:,:,i) is the i'th point along the path.

tc = ctraj(T0, T1, s) as above but the elements of s (Nx1) specify the fractional distance along the path, and these values are in the range [0 1]. The i'th point corresponds to a distance s(i) along the path.

## Notes

- If T0 or T1 is equal to [] it is taken to be the identity matrix.
- In the second case S could be generated by a scalar trajectory generator such as TPOLY or LSPB (default).

## Reference

Robotics, Vision & Control, Sec 3.1.5, Peter Corke, Springer 2011

## See also

lspb, mstraj, trinterp, Quaternion.interp, transl

© 1990-2014 Peter Corke.