trajectory_blend_cu​bic

Cubic trajectory generator given path's via points

This function blends cubic continuous polynomial between given path's via points. The inputs are via points row vector, blend velocities row vector, time span, and logical operator to plot or not (afigure=1 to plot). It returns a matrix that includes the coefficients of each segment polynomial in a row order. This code is made by Mostafa Atalla- Worcester Polytechnic Institute