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Multidimensional path-generator

4.0
4.0 | 1 rating Rate this file 9 Downloads (last 30 days) File Size: 5.05 KB File ID: #43165 Version: 1.2

Multidimensional path-generator

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21 Aug 2013 (Updated )

This script is a general purpose multidimensional path generator algorithm.

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Description

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.

Required Products MATLAB
MATLAB release MATLAB 8.1 (R2013a)
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Comments and Ratings (2)
16 Feb 2017 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)))

16 Feb 2017 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

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Updates
31 Oct 2013 1.1

- Formatted the output as timeseries objects.

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

05 Nov 2013 1.2

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

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