[tforms,vel,acc] = transformtraj(T0,TF,tInterval,tSamples)
generates a trajectory that interpolates between two 4-by-4 homogeneous transformations,
T0 and TF, with points based on the time
interval and given time samples.

Interpolate between the points. Plot the trajectory using plotTransforms. Convert the transformations to quaternion rotations and linear transitions. The figure shows all the intermediate transformations of the coordinate frame.

Initial transformation, specified as a 4-by-4 homogeneous transformation. The
function generates a trajectory that starts at the initial transformation,
T0, and goes to the final transformation,
TF.

Data Types: single | double

TF — Final transformation 4-by-4 homogeneous transformation

Final transformation, specified as a 4-by-4 homogeneous transformation. The function
generates a trajectory that starts at the initial transformation,
T0, and goes to the final transformation,
TF.

Data Types: single | double

tInterval — Start and end times for trajectory two-element vector

Start and end times for the trajectory, specified as a two-element vector.

Example: [0 10]

Data Types: single | double

tSamples — Time samples for trajectory m-element vector

Time samples for the trajectory, specified as an m-element
vector. The output trajectory, rotVector, is a vector of
orientations

Example: 0:0.01:10

Data Types: single | double

Name-Value Pair Arguments

Specify optional
comma-separated pairs of Name,Value arguments. Name is
the argument name and Value is the corresponding value.
Name must appear inside quotes. You can specify several name and value
pair arguments in any order as
Name1,Value1,...,NameN,ValueN.

Example: 'TimeScaling',[0 1 2; 0 1 0; 0 0 0]

'TimeScaling' — Time scaling vector and first two derivatives 3-by-m vector

Time scaling vector and the first two derivatives, specified as a
3-by-m vector, where m is the length of
tSamples. By default, the time scaling is a linear time scaling
between the time points in tInterval.

For a nonlinear time scaling, specify the values of the time points in the first
row. The second and third rows are the velocity and acceleration of the time points,
respectively. For example, to follow the path with a linear velocity to the halfway
point, and then jump to the end, the time-scaling would
be:

Transformation trajectory, returned as a 4-by-4-by-m homogeneous
transformation matrix array, where m is the number of points in
tSamples.

vel — Transformation velocities 6-by-m matrix

Transformation velocities, returned as a 6-by-m matrix, where
m is the number of points in tSamples. The
first three elements are the angular velocities, and the second three elements are the
velocities in time.

acc — Transformation accelerations 6-by-m matrix

Transformation accelerations, returned as a 6-by-m matrix, where
m is the number of points in tSamples. The
first three elements are the angular accelerations, and the second three elements are
the accelerations in time.

Extended Capabilities

C/C++ Code Generation Generate C and C++ code using MATLAB® Coder™.

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