Traplana

Traplana is Julia library for trajectory planning based on simple reference signals using

cosine: $r(t)=(1 - \cos(p~\pi~t))/2$
tanh: $r(t)=(1+\tanh(p*(t-0.5)))/2$

The input signal is computed with the reference signal and its derivatives

$u(t)=f(r, \dot{r}, ..., r^{(n-1)})$

Citing

See CITATION.bib for the relevant reference(s).