s
Station grid or path-parameter samples. Use a real finite vector; station-grid inputs are usually strictly increasing.
copp.interpolation.t_to_s_topp2
Compatibility wrapper for TOPP2 time-to-path interpolation.
Syntax
s_t = copp.interpolation.t_to_s_topp2(s, a, t_s)
s_t = copp.interpolation.t_to_s_topp2(s, a, t_s, dt=dt, t_sample=t_sample, t0=t0, include_final=include_final)
Description
= copp.interpolation.t_to_s_topp2(S, A, T_S, dt=DT) samples a uniform time grid and delegates to t_to_s_topp2_uniform(). S, A, and T_S must have length N. A stores the TOPP2 node profile \(a(k) = (ds/dt)^2\).
= ...t_to_s_topp2(..., t_sample=T_SAMPLE) samples explicit times and delegates to t_to_s_topp2_samples(). T_SAMPLE has M elements, and S_T is returned as an M-by-1 double column vector.
Exactly one of dt or t_sample must be supplied. New code may call the explicit uniform/samples helpers directly.
Input Arguments
a
Second-order node profile. Element a(k) stores the squared path speed \((ds/dt)^2\) at station s(k).
t_s
Cumulative arrival time at each station, returned as an \(N \times 1\) double column vector.
Name-Value Arguments
dt
Uniform time step used to create sampling times from zero to the final traversal time. Default: []
t_sample
User-provided time samples where \(\(s(t)\)\) should be evaluated. Default: []
t0
Initial time offset added to the cumulative arrival-time grid. Default: 0
include_final
Whether sampling helpers should include the final time sample exactly. Default: true
Output Arguments
s_t
Sampled path parameter values \(s(t)\).