Generate trajectories with trapezoidal velocity profiles

`[`

generates a trajectory through a given set of input waypoints that follow a trapezoidal
velocity profile. The function outputs positions, velocities, and accelerations at the given
time samples, `q`

,`qd`

,`qdd`

,`tSamples`

,`pp`

] = trapveltraj(`wayPoints`

,`numSamples`

)`tSamples`

, based on the specified number of samples,
`numSamples`

. The function also returns the piecewise polynomial
`pp`

form of the polynomial trajectory with respect to time.

`[`

specifies additional parameters using `q`

,`qd`

,`qdd`

,`tSamples`

,`pp`

] = trapveltraj(`wayPoints`

,`numSamples`

,`Name,Value`

)`Name,Value`

pair arguments.

[1] Lynch, Kevin M., and Frank C.
Park. *Modern Robotics: Mechanics, Planning and Control*. Cambridge:
Cambridge University Press, 2017.

[2] Spong, Mark W., Seth Hutchinson,
and M. Vidyasagar. *Robot Modeling and Control*. John Wiley
& Sons, 2006.

`bsplinepolytraj`

| `cubicpolytraj`

| `quinticpolytraj`

| `rottraj`

| `transformtraj`

| `trapveltraj`