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how can I create a (8 or infinity) shaped trajectory using 'WaypointTrajectory' or 'KinematicTrajectory' system object?

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I want waypoints ? and Euler angles? for that.

Accepted Answer

Ryan Salvo
Ryan Salvo on 1 Mar 2022
Hi Biswajit,
Here is code that will create a figure 8 shaped trajectory with the waypointTrajectory object.
Thanks,
Ryan
% Specify waypoints, times of arrival, and sampling rate.
wp = [0 0 0; 2 -2 0; 4 0 0; 6 2 0; 8 0 0; 6 -2 0; 4 0 0; 2 2 0; 0 0 0];
toa = 4*(0:size(wp,1)-1).';
Fs = 100;
% Create trajectory.
traj = waypointTrajectory(wp, toa, SampleRate=Fs);
% Get position.
t = 0:1/Fs:toa(end);
pos = lookupPose(traj, t);
% Plot.
figure
plot(pos(:,1), pos(:,2))

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