a
Second-order node profile. Element a(k) stores the squared path speed \((ds/dt)^2\) at station s(k).
copp.Profile3rd
Third-order path-speed profile.
Syntax
P = copp.Profile3rd(A, B)
P = ...Profile3rd(..., num_stationary=[NS0, NSF])
Description
A Profile3rd stores the two station profiles used by TOPP3/COPP3:
= \((ds/dt)^2\) \(b(k) = d^2s/dt^2\)
The stationary counters describe how many grid points at each end are treated as stationary by the third-order interpolation formulas. Solver outputs are copied into MATLAB-owned double column vectors of length N, so users do not manage native buffers or handles. A and B may be passed as row or column vectors, but obj.a and obj.b are always \(N \times 1\).
Input Arguments
b
Interval or edge acceleration profile. For TOPP2 interpolation this is an (N-1)-by-1 column vector.
Name-Value Arguments
num_stationary
Name-value option for copp.Profile3rd. Default: [0, 0]
Properties
a
Node profile a(s) = \((ds/dt)^2\) as an \(N \times 1\) double column vector.
b
Node profile b(s) = \(d^2s/dt^2\) as an \(N \times 1\) double column vector.
num_stationary_start
Number of stationary nodes at the profile start.
num_stationary_end
Number of stationary nodes at the profile end.
len
Number of station samples in a and b.
num_stationary
Two-element vector [start, end].
Methods
Profile3rd
Construct a MATLAB-owned third-order profile.
length
Number of station samples in scalar Profile3rd objects.
Method Details
Profile3rd
Syntax
P = copp.Profile3rd(A, B)
P = ...Profile3rd(..., num_stationary=[NS0, NSF])
copies real finite vectors A and B into \(N \times 1\) double column vectors. A and B may be \(1 \times N\) or \(N \times 1\), but they must have the same number of elements. A must be nonnegative because a(k) stores \((ds/dt)^2\).
stores the stationary-node metadata returned by TOPP3 solvers.
length
Syntax
value = length(obj)
Examples
profile = copp.Profile3rd(ones(3,1), zeros(3,1), ... num_stationary=[0, 0]);