matlab的ctraj,ctraj.m · jayvee/robotics-toolbox-matlab - Gitee.com

%CTRAJ Cartesian trajectory between two poses

%

% TC = CTRAJ(T0, T1, N) is a Cartesian trajectory (4x4xN) from pose T0 to T1

% with N points that follow a trapezoidal velocity profile along the path.

% The Cartesian trajectory is a homogeneous transform sequence and the last

% subscript being the point index, that is, T(:,:,i) is the i'th point along

% the path.

%

% TC = CTRAJ(T0, T1, S) as above but the elements of S (Nx1) specify the

% fractional distance along the path, and these values are in the range [0 1].

% The i'th point corresponds to a distance S(i) along the path.

%

% Notes::

% - If T0 or T1 is equal to [] it is taken to be the identity matrix.

% - In the second case S could be generated by a scalar trajectory generator

% such as TPOLY or LSPB (default).

% - Orientation interpolation is performed using quaternion interpolation.

%

% Reference::

% Robotics, Vision & Control, Sec 3.1.5,

% Peter Corke, Springer 2011

%

% See also LSPB, MSTRAJ, TRINTERP, UnitQuaternion.interp, SE3.ctraj.

% Copyright (C) 1993-2017, by Peter I. Corke

%

% This file is part of The Robotics Toolbox for MATLAB (RTB).

%

% RTB is free software: you can redistribute it and/or modify

% it under the terms of the GNU Lesser General Public License as published by

% the Free Software Foundation, either version 3 of the License, or

% (at your option) any later version.

%

% RTB is distributed in the hope that it will be useful,

% but WITHOUT ANY WARRANTY; without even the implied warranty of

% MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the

% GNU Lesser General Public License for more details.

%

% You should have received a copy of the GNU Leser General Public License

% along with RTB. If not, see .

%

% http://www.petercorke.com

function traj = ctraj(T0, T1, t)

% T0 = SE3.check(T0);

% T1 = SE3.check(T1);

% distance along path is a smooth function of time

if isscalar(t)

s = lspb(0, 1, t);

else

s = t(:);

end

for i=1:length(s)

traj(:,:,i) = trinterp(T0, T1, s(i));

end

end

一键复制

编辑

Web IDE

原始数据

按行查看

历史