poly2traj

This function creates a polynomial by specifying initial, and final conditions and durations.

To use it, you need to specify an initial and a final condition also specify time in seconds.

It is Important that both inital and final conditon vectors starts with the lowest order.

An initial condtion vector of this [1 2 3] means the initial position is 1, the initial velocity is 2 and the initial acceleration is 3

it is also important that both vectors have the same lenght other wise it will not work

it is important to specify time in seconds as it determine to generate a smooth path.

Also, dont forget that the n size vector will corresponds to 2n-1 order polynomial.

example an inital condition of [1 2 3] and final condition of [4 5 6] will yeald a quintic polynomial.

an inital conditon of [1 2] and [3 4] will result a cubic polynomials.

note that a quadradic and any even order polynomial are not possible as this require unbalanced numbers of elements on each vector.