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To try this project out, just run the function auto_test() . Tested with MATLAB 126.96.36.1994 R2010b on Mac OS X Snow Leopard license: GPL authors: Frieder Wittmann, email@example.com planed future features: ---------------------- - grow multiple RRT's incl. backwards simulation - how to do backward simulation? - euler 1 - runge kutta and minmizing difference with u - all throws should be at 45 deg (grow RRTs from there with different velocity) - better criterion for throw and one sided throws only - compliance in the joints - 2 DOF and higher - use gravity