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Multidimensional path-generator

version 1.2 (5.05 KB) by

This script is a general purpose multidimensional path generator algorithm.

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This script is a general purpose multidimensional path generator algorithm. Given n-dimensional waypoints described as pairs of positions and velocities, it calculates a path meeting these waypoints and guaranteed to be below maximum thresholds of velocity, acceleration and jurk. Keep in mind that the path created is not necessarily optimal.

Comments and Ratings (2)

L.I. Huijben

seems to be fixed by adding an abs statement on line 206:

if any(any(abs(testv) > repmat(v_max,1,3)))

L.I. Huijben

hey looks nice, but your script does not seem to take negative velocity constraints into consideration. only the positive ones are enforced

Updates

1.2

Fixed the checks on the parameters to use the structure format.

1.1

- Formatted the output as timeseries objects.

- All workspace variables have been moved under one struct: pathGen

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MATLAB 8.1 (R2013a)

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