# minsnappolytraj

Generate minimum snap trajectory through waypoints

## Syntax

## Description

`[`

generates a minimum snap polynomial trajectory that achieves a given set of input waypoints
with their corresponding time points. The function returns positions, velocities,
accelerations, jerks, and snaps at the given number of samples
`q`

,`qd`

,`qdd`

,`qddd`

,`qdddd`

,`pp`

,`tPoints`

,`tSamples`

] = minsnappolytraj(`waypoints`

,`timePoints`

,`numSamples`

)`numSamples`

. The function also returns the piecewise polynomial
`pp`

form of the polynomial trajectory with respect to time, as well as
the time points `tPoints`

, and the sample times
`tSamples`

.

`[`

specifies options using one or more name-value pair arguments in addition to the input
arguments from the previous syntax.
For example,
`q`

,`qd`

,`qdd`

,`qddd`

,`qdddd`

,`pp`

,`tPoints`

,`tSamples`

] = minsnappolytraj(___,Name=Value)```
minsnappolytraj(waypoints,timePoints,numSamples,VelocityBoundaryCondition=[1 0 -1
-1; 1 1 1 -1])
```

generates a two-dimensional minimum snap trajectory and specifies
the velocity boundary conditions in each dimension for each waypoint.

## Examples

## Input Arguments

## Output Arguments

## References

[1] Bry, Adam, Charles Richter,
Abraham Bachrach, and Nicholas Roy. “Aggressive Flight of Fixed-Wing and Quadrotor Aircraft in
Dense Indoor Environments.” *The International Journal of Robotics
Research*, 34, no. 7 (June 2015): 969–1002.

[2] Richter, Charles, Adam Bry, and
Nicholas Roy. “Polynomial Trajectory Planning for Aggressive Quadrotor Flight in Dense Indoor
Environments." *Paper presented at the International Symposium of Robotics Research
(ISRR 2013)*, 2013.

## Extended Capabilities

## Version History

**Introduced in R2021b**