Generate polynomial trajectories using B-splines

`[`

generates a piecewise cubic B-spline trajectory that falls in the control polygon defined by
`q`

,`qd`

,`qdd`

,`pp`

] = bsplinepolytraj(`controlPoints`

,`tInterval`

,`tSamples`

)`controlPoints`

. The trajectory is uniformly sampled between the start
and end times given in `tInterval`

. The function returns the positions,
velocities, and accelerations at the input time samples, `tSamples`

. The
function also returns the piecewise polynomial `pp`

form of the
polynomial trajectory with respect to time.

[1] Farin, Gerald E. *Curves
and Surfaces for Computer Aided Geometric Design: A Practical Guide*. San Diego,
CA: Academic Press, 1993.

`cubicpolytraj`

| `quinticpolytraj`

| `rottraj`

| `transformtraj`

| `trapveltraj`