s
Station grid or path-parameter samples. Use a real finite vector; station-grid inputs are usually strictly increasing.
copp.interpolation.t_to_s_topp3_uniform
Sample s(t) from a TOPP3 profile on a uniform grid.
Syntax
s_t = copp.interpolation.t_to_s_topp3_uniform(s, profile, t_s, dt)
s_t = copp.interpolation.t_to_s_topp3_uniform(s, profile, t_s, dt, t0=t0, include_final=include_final)
Description
= copp.interpolation.t_to_s_topp3_uniform(S, PROFILE, T_S, DT) samples path position at T0, T0+DT, T0+2*DT, ... using the third-order profile represented by PROFILE. S and T_S must have length N, matching the \(N \times 1\) PROFILE.a and PROFILE.b vectors. T_S is usually returned by s_to_t_topp3(). 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
profile
Third-order profile object containing a, b, and stationary-node metadata.
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 \(s(t)\).