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# tpoly

Generate scalar polynomial trajectory

[s,sd,sdd] = tpoly(s0, sf, m) is a scalar trajectory (Mx1) that varies smoothly from s0 to sf in m steps using a quintic (5th order) polynomial. Velocity and acceleration can be optionally returned as sd (Mx1) and sdd (Mx1).

[s,sd,sdd] = tpoly(s0, sf, T) as above but specifies the trajectory in terms of the length of the time vector T (Mx1).

## Notes

- If no output arguments are specified S, SD, and SDD are plotted.

© 1990-2014 Peter Corke.