1function testspline()
2
3
4
5
6
7
8
9
10
11
12splinex = CubicSplineTrajectory_single(0,1,[0 0; 1 0]);
13spliney = CubicSplineTrajectory_single(0,[0.2 0.8],[0.1 0; 0.2 0; 0 0]);
14t = 0:.01:1;
15x = zeros(length(t), 3);
16y = zeros(length(t), 3);
17
18for i = 1:length(t)
19 x(i,:) = EvalSpline(t(i), splinex);
20 y(i,:) = EvalSpline(t(i), spliney);
21end
22
23
24
25
26
27end
28