% [ppx,ppv,ppa,ppj,pps] = pwqh(t,x,v,a)
% Computes a piecewise quintic spline. Similar syntax to Matlab's function
% pwch() for cubic splines. The user provides the position, velocity, and
% acceleration for a sequence
% t = [1, nTime] = time vector
% x = [nDim, nTime] = position
% v = [nDim, nTime] = velocity
% a = [nDim, nTime] = acceleration
% ppx = quintic spline for x(t)
% ppv = quartic spline for v(t) (derivative of x(t))
% ppv = cubic spline for a(t) (derivative of v(t))
Matthew Kelly (2021). pwqh(t,x,v,a) (https://www.mathworks.com/matlabcentral/fileexchange/61822-pwqh-t-x-v-a), MATLAB Central File Exchange. Retrieved .
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