Matlab toolbox equivalent functions

[zdreams]

Hello.
I am trying to map a robot manipulator's trajectory. Using Matlab toolbox I can use something like this (taken from the official blog):
T0 = trvec2tform([0 0 0]);
Tf = trvec2tform([1 2 3])*eul2tform([pi/2 0 pi/4],'ZYX');
tTimes = linspace(0,1,51);
tInterval = [0 5];
[s,sd,sdd] = trapveltraj([0 1],numel(tTimes));
[T,dT,ddT] = transformtraj(T0,Tf,tInterval,tTimes,'TimeScaling',[s;sd;sdd]);
plotTransforms(tform2trvec(T),tform2quat(T));
I am unfamiliar the equivalent trajectory functions in the Py toolbox. Thanks

[vla-gove]

This has been answered by @petercorke at Linear Trajectory:

• trapveltraj maps to trapezoidal
• rottraj can be handled by the interp method of UnitQuaternion or SO3
• transformtraj can be handled by the interp method of SE3 or Twist3, or the ctraj function.

Originally posted by @petercorke in #262 (comment)

[petercorke]

Hi @zdreams, thank you for your question, and I'm sorry for the long delay: various life events got in the way, and since May I've been doing major work across the Robotics Toolbox, Swift and SpatialGeometry.

The answer @vla-gove pointed to, from Linear Trajectory, covers it:

• trapveltraj maps to trapezoidal
• rottraj can be handled by the interp method of UnitQuaternion or SO3
• transformtraj can be handled by the interp method of SE3 or Twist3, or the ctraj function

Thanks to @vla-gove for pointing to it. I'm closing this as answered; if something still doesn't work, please post an Issue with a short example.