polynomialTrajectory
Description
The polynomialTrajectory
System object™ generates trajectories using a specified piecewise polynomial.
You can create a piecewise-polynomial structure using trajectory
generators like minjerkpolytraj
, minsnappolytraj
, and cubicpolytraj
,
as well as any custom trajectory generator. You can then pass the structure to the
polynomialTrajectory
System object to create a trajectory interface for scenario simulation using the robotScenario
object.
To generate a trajectory from a piecewise polynomial:
Create the
polynomialTrajectory
object and set its properties.Call the object with arguments, as if it were a function.
To learn more about how System objects work, see What Are System Objects?
Creation
Description
Input Arguments
Properties
Usage
Description
[
outputs a frame of trajectory data based on specified creation arguments and properties.
The trajectory returns position
,orientation
,velocity
,acceleration
,angularVelocity
] = trajectory()NaN
for positions and orientations outside the
range of the time of arrival.
Output Arguments
Object Functions
To use an object function, specify the
System object as the first input argument. For
example, to release system resources of a System object named obj
, use
this syntax:
release(obj)
Examples
Extended Capabilities
Version History
Introduced in R2023a