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_samples
Sample s(t) from a TOPP2 profile at explicit times.
Syntax
s_t = copp.interpolation.t_to_s_topp2_samples(s, a, t_s, t_sample)
Description
= copp.interpolation.t_to_s_topp2_samples(S, A, T_S, T_SAMPLE) maps each requested time in T_SAMPLE to a path position. S, A, and T_S must be real finite vectors of the same length N; row or column inputs are accepted. T_SAMPLE must be a real finite vector with M elements in the time range represented by T_S. S_T is returned as an M-by-1 double column vector.
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.
t_sample
User-provided time samples where \(\(s(t)\)\) should be evaluated.
Output Arguments
s_t
Sampled path parameter values \(s(t)\).