Commit 703ce62c authored by Ferdinand Fischer's avatar Ferdinand Fischer
Browse files

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

parent af5f40ee
......@@ -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'} ));
......
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