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_uniform
Sample s(t) from a TOPP2 profile on a uniform time grid.
Syntax
s_t = copp.interpolation.t_to_s_topp2_uniform(s, a, t_s, dt)
s_t = copp.interpolation.t_to_s_topp2_uniform(s, a, t_s, dt, t0=t0, include_final=include_final)
Description
= copp.interpolation.t_to_s_topp2_uniform(S, A, T_S, DT) samples the path position at times T0, T0+DT, T0+2*DT, ... up to the final time in T_S. S, A, and T_S must be real finite vectors of the same length N; row or column inputs are accepted. A(k) stores \((ds/dt)^2\) at S(k), and T_S is usually the \(N \times 1\) column returned by s_to_t_topp2(). S_T is returned as an M-by-1 double column vector, where M is the number of generated time samples.
Name-value options: t0: First sample time. Defaults to 0. include_final: Append the final path position when the uniform grid does not land exactly on the final time. Defaults to true.
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.
dt
Uniform time step used to create sampling times from zero to the final traversal time.
Name-Value Arguments
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 \(s(t)\).