In this zip file there are two functions that you can use to create smooth 3rd order and 5th order trajectories. You just need to provide boundary conditions for the function and the output is a vector. The vector can be used as a polynomial vector in MATLAB. There is also a test file that shows how to use the two functions.
Reza Ahmadzadeh (2021). Trajectory Generation (3rd & 5th orders) (https://www.mathworks.com/matlabcentral/fileexchange/40278-trajectory-generation-3rd-5th-orders), MATLAB Central File Exchange. Retrieved .
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