GenTraj.m

Trajectory generation for point to point motion with velocity, acceleration, jerk and snap constrain

[Y,T]=GenTraj(A,V,P,Tj,Ts) returns the position, velocity and acceleration profiles for a snap controlled law from the specified constraints on maximum velocity V, maximum acceleration A, desired traveling distance P, Jerk time Tj and Snap time Ts.

Y is a 3 row matrix containing the position, velocity and acceleration profile associated to the time vector T.

If Tj and Ts are not given, Tj=Ts=0 is assumed. The resulting movement is acceleration limited. If Ts is not given, Ts=0 and P contains the points of the corresponding jerk limited law