allow the trajectory planning to start from time steps that are not zero

+misc/+ss/planTrajectory.m

@@ -20,13 +20,11 @@ p.parse(varargin{:});
 x0 = p.Results.x0;
 x1 = p.Results.x1;
 
+% prepare time vectors
+t = t(:);		
 t0 = t(1);
 t1 = t(end);
 
-if ~numeric.near(t0, 0)
-	warning('Not yet tested for non zero initial conditions');
-end
-
 %% Compute the state transition matrix: Phi(t,tau) = expm(A*(t-tau) )
 % Att0 = sys.A * quantity.Symbolic( sym('t') - sym('tau'), 'grid', {t, t}, 'gridName', {'t', 'tau'} );
 Phi_t0 = expm(sys.A * quantity.Discrete( t - t0, 'grid', {t}, 'gridName', {'t'} ));