clear;clc;tf=6;t=0:0.001:tf;Pos_ini=[1 2 1];Pos_f=[8 -2 3];Pos=Pos_ini;Vel=zeros(1,3);Accel=zeros(1,3);ta=tf/6;Vmax=(Pos

[answerhappygod]

clear;clc;tf=6;t=0:0.001:tf;Pos_ini=[1 2 1];Pos_f=[8 -2 3];Pos=Pos_ini;Vel=zeros(1,3);Accel=zeros(1,3);ta=tf/6;Vmax=(Pos_f-Pos_ini)./(tf-ta);amax=Vmax/ta;for i=1:length(t) if t(i)<=ta Accel(i,:)=amax; Vel(i,:)=amax*t(i); Pos(i,:)=Pos_ini+(amax/2)*(t(i))^2; elseif (t(i)>ta) && (t(i) <= tf-ta) Accel(i,:)=[0 0 0]; Vel(i,:)=Vmax; Pos(i,:)=Vmax*t(i)+(Pos_f+Pos_ini-Vmax*tf)/2; elseif (t(i)>tf-ta) && (t(i) <= tf) Accel(i,:)=-amax; Vel(i,:)=amax*tf-amax*t(i); Pos(i,:)=Pos_f-(amax*tf^2)/2+amax*tf*t(i)-(amax/2)*(t(i))^2; endendfigure;subplot(1,3,1)plot(t,Accel,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Acceleration (m/s^2)')legend('x','y','\alpha')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);subplot(1,3,2)plot(t,Vel,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Velocity (m/s)')legend('x','y','\omega')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);subplot(1,3,3)plot(t,Pos,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Position (m)')legend('x','y','\theta')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);%% Integral of velocityclc;dt=0.001;Pos_integral=Pos_ini;for i=1:(length(t)-1) Pos_integral(i+1,:)=Pos_integral(i,:)+Vel(i+1,:)*dt;endfigure;plot(t,Pos_integral,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Position (m)')legend('x','y','\theta')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);
clear;clc;tf=6;t=0:0.001:tf;Pos_ini=[1 2 1];Pos_f=[8 -2 3];Pos=Pos_ini;Vel=zeros(1,3);Accel=zeros(1,3);ta=tf/6;Vmax=(Pos_f-Pos_ini)./(tf-ta);amax=Vmax/ta;for i=1:length(t) if t(i)<=ta Accel(i,:)=amax; Vel(i,:)=amax*t(i); Pos(i,:)=Pos_ini+(amax/2)*(t(i))^2; elseif (t(i)>ta) && (t(i) <= tf-ta) Accel(i,:)=[0 0 0]; Vel(i,:)=Vmax; Pos(i,:)=Vmax*t(i)+(Pos_f+Pos_ini-Vmax*tf)/2; elseif (t(i)>tf-ta) && (t(i) <= tf) Accel(i,:)=-amax; Vel(i,:)=amax*tf-amax*t(i); Pos(i,:)=Pos_f-(amax*tf^2)/2+amax*tf*t(i)-(amax/2)*(t(i))^2; endendfigure;subplot(1,3,1)plot(t,Accel,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Acceleration (m/s^2)')legend('x','y','\alpha')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);subplot(1,3,2)plot(t,Vel,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Velocity (m/s)')legend('x','y','\omega')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);subplot(1,3,3)plot(t,Pos,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Position (m)')legend('x','y','\theta')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);%% Integral of velocityclc;dt=0.001;Pos_integral=Pos_ini;for i=1:(length(t)-1) Pos_integral(i+1,:)=Pos_integral(i,:)+Vel(i+1,:)*dt;endfigure;plot(t,Pos_integral,'LineWidth',2)grid onxlabel('Time (sec)')ylabel('Position (m)')legend('x','y','\theta')set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...'FontSize',10);
clear;
clc;
tf=6;
t=0:0.001:tf;
Pos_ini=[1 2 1];
Pos_f=[8 -2 3];
Pos=Pos_ini;
Vel=zeros(1,3);
Accel=zeros(1,3);
ta=tf/6;
Vmax=(Pos_f-Pos_ini)./(tf-ta);
amax=Vmax/ta;
for i=1:length(t)
if t(i)<=ta
Accel(i,:)=amax;
Vel(i,:)=amax*t(i);
Pos(i,:)=Pos_ini+(amax/2)*(t(i))^2;
elseif (t(i)>ta) && (t(i) <= tf-ta)
Accel(i,:)=[0 0 0];
Vel(i,:)=Vmax;
Pos(i,:)=Vmax*t(i)+(Pos_f+Pos_ini-Vmax*tf)/2;
elseif (t(i)>tf-ta) && (t(i) <= tf)
Accel(i,:)=-amax;
Vel(i,:)=amax*tf-amax*t(i);
Pos(i,:)=Pos_f-(amax*tf^2)/2+amax*tf*t(i)-(amax/2)*(t(i))^2;
end
end
figure;
subplot(1,3,1)
plot(t,Accel,'LineWidth',2)
grid on
xlabel('Time (sec)')
ylabel('Acceleration (m/s^2)')
legend('x','y','\alpha')
set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...
'FontSize',10);
subplot(1,3,2)
plot(t,Vel,'LineWidth',2)
grid on
xlabel('Time (sec)')
ylabel('Velocity (m/s)')
legend('x','y','\omega')
set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...
'FontSize',10);
subplot(1,3,3)
plot(t,Pos,'LineWidth',2)
grid on
xlabel('Time (sec)')
ylabel('Position (m)')
legend('x','y','\theta')
set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...
'FontSize',10);
%% Integral of velocity
clc;
dt=0.001;
Pos_integral=Pos_ini;
for i=1:(length(t)-1)
Pos_integral(i+1,:)=Pos_integral(i,:)+Vel(i+1,:)*dt;
end
figure;
plot(t,Pos_integral,'LineWidth',2)
grid on
xlabel('Time (sec)')
ylabel('Position (m)')
legend('x','y','\theta')
set(gca,'Units','normalized','FontUnits','points','FontWeight','bold',...
'FontSize',10);