1function spline = CubicSplineTrajectory_single(startTime,duration,x)
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10nSplines = numel(duration);
11spline.startTime = zeros(nSplines, 1);
12spline.duration = duration;
13spline.coefs = zeros(nSplines, 4);
14
15for i = 1:nSplines
16 spline.startTime(i) = startTime + sum(duration(1:(i - 1)));
17 spline.coefs(i, :) = setcoefs(x(i, :) .* [1 duration(i)], x(i + 1, :) .* [1 duration(i)]);
18end
19
20if nargin==0
21 spline.startTime = [];
22 spline.duration = [];
23 spline.coefs = zeros();
24 return
25end
26