% dpp = ppDer(pp)
% Computes the time-derivative of piece-wise polynomial (PP) struct
% pp = a PP struct containing a trajectory of interest
% dpp = a new PP struct that is the time-derivative of pp
% --> a pp struct is typically created by matlab functions such as
% spline, pchip, or pwch and evaluated using ppval.
% --> Call this function without arguments to run a test case
Fixed the formatting of the pp-struct to be the same as is generated by built-in matlab functions.