ComputedTorqueInSpaceControl/Trajectory.scilab File Reference

Compute the position, velocity and acceleration desired at a given time t. More...


Functions

rets Trajectory (type t)
 Compute the position, velocity and acceleration desired at a given time t.


Detailed Description

Compute the position, velocity and acceleration desired at a given time t.

Author:
Pierre-Brice Wieber
Affiliation(s): INRIA, team BIPOP

Email(s): Pierre-Brice.Wieber@inria.fr

Description:

Modifications:


Function Documentation

rets Trajectory ( type  t  ) 

Compute the position, velocity and acceleration desired at a given time t.

Parameters:
t (float) time
Returns:
qd (float vector, size = NDOF) desired position

qdotd (float vector, size = NDOF) desired velocity

qddot (float vector, size = NDOF) desired acceleration

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