Changes to trajectory functions

[petercorke]

Old behaviour

Trajectory functions used to return a named tuple with time, position, velocity and acceleration, eg.

tg = tpoly1(0, 1, 20)

with elements x, y, yd, ydd, which could be plotted with t1plot.

While

tg = jtraj(q0, qf, 20)

had elements t, q, qd, qdd, and you could plot the element using qplot(tg.q).

New behaviour

All trajectory functions return a Trajectory class which holds the element like the named tuple did. But:

• the elements are always called x, y, yd, ydd
• it has a plot method which will plot position, velocity and acceleration

t1plot has gone, qplot remains, but the example above would now be qplot(tg.y)