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TrajectoryTest.m
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%% This is for testing the Trajectory Generation functions in the robotics Toolbox
function tests = TrajectoryTest
tests = functiontests(localfunctions);
clc
end
function teardownOnce(tc)
close all
end
function tpoly_test(tc)
s1 = 1;
s2 = 2;
%% no boundary conditions
tpoly(s1, s2, 11);
s = tpoly(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
[s,sd] = tpoly(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(s >= 0)); % velocity is >= 0
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
[s,sd,sdd] = tpoly(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(sd >= -10*eps)); % velocity is >= 0
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sdd(1), 0, 'absTol',1e-10); % acceleration
tc.verifyEqual(sdd(6), 0, 'absTol',1e-10);
tc.verifyEqual(sdd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sum(sdd), 0, 'absTol',1e-10);
%% time vector version
t = linspace(0, 1, 11);
tpoly(s1, s2, t);
s = tpoly(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
[s,sd] = tpoly(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(s >= 0)); % velocity is >= 0
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
[s,sd,sdd] = tpoly(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(sd >= 0)); % velocity is >= 0
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sdd(1), 0, 'absTol',1e-10); % acceleration
tc.verifyEqual(sdd(6), 0, 'absTol',1e-10);
tc.verifyEqual(sdd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sum(sdd), 0, 'absTol',1e-10);
%% boundary conditions
[s,sd,sdd] = tpoly(s1, s2, 11, -1, 1);
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(sd(1), -1, 'absTol',1e-10);
tc.verifyEqual(sd(end), 1, 'absTol',1e-10);
tc.verifyEqual(sdd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sdd(end), 0, 'absTol',1e-10);
%% plot version
tpoly(s1, s2, 11, -1, 1);
end
function lspb_test(tc)
s1 = 1;
s2 = 2;
%% no boundary conditions
lspb(s1, s2, 11);
s = lspb(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
[s,sd] = lspb(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(s >= 0)); % velocity is >= 0
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
[s,sd,sdd] = lspb(s1, s2, 11);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(sd >= 0)); % velocity is >= 0
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sum(sdd), 0, 'absTol',1e-10);
%% time vector version
t = linspace(0, 1, 11);
lspb(s1, s2, t);
s = lspb(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
[s,sd] = lspb(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(s >= 0)); % velocity is >= 0
tc.verifyEqual(s(6), 1.5, 'absTol',1e-10);
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
[s,sd,sdd] = lspb(s1, s2, t);
tc.verifyTrue(all(diff(s) > 0)); % output is monotonic
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyTrue(all(sd >= 0)); % velocity is >= 0
tc.verifyEqual(sd(1), 0, 'absTol',1e-10);
tc.verifyEqual(sd(end), 0, 'absTol',1e-10);
tc.verifyEqual(sum(sdd), 0, 'absTol',1e-10);
%% specify velocity
[s,sd,sdd] = lspb(s1, s2, 11,0.2);
tc.verifyEqual(s(1), s1, 'absTol',1e-10);
tc.verifyEqual(s(end), s2, 'absTol',1e-10);
tc.verifyEqual(sd(6), 0.2, 'absTol',1e-10);
%% plot version
lspb(s1, s2, 11);
end
% ctraj - Cartesian trajectory
function ctraj_test(tc)
% unit testing ctraj with T0 and T1 and N
T0 = transl(1,2,3);
T1 = transl(-1,-2,-3)*trotx(pi);
T = ctraj(T0, T1, 3);
tc.verifyEqual(size(T,3), 3);
tc.verifyEqual(T(:,:,1), T0, 'abstol', 1e-10);
tc.verifyEqual(T(:,:,2), trotx(pi/2), 'abstol', 1e-10);
tc.verifyEqual(T(:,:,3), T1, 'abstol', 1e-10);
% unit testing ctraj with T0 and T1 and S(i)
T = ctraj(T0, T1, [1 0 0.5]);
tc.verifyEqual(size(T,3), 3);
tc.verifyEqual(T(:,:,1), T1, 'abstol', 1e-10);
tc.verifyEqual(T(:,:,3), trotx(pi/2), 'abstol', 1e-10);
tc.verifyEqual(T(:,:,2), T0, 'abstol', 1e-10);
end
% jtraj - joint space trajectory
function jtraj_test(tc)
% unit testing jtraj with
q1 = [1 2 3 4 5 6];
q2 = -q1;
q = jtraj(q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = jtraj(q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = jtraj(q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(qdd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(end,:), zeros(1,6), 'abstol', 1e-10);
%% with a time vector
t = linspace(0, 1, 11);
q = jtraj(q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = jtraj(q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = jtraj(q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(qdd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(end,:), zeros(1,6), 'abstol', 1e-10);
%% test with boundary conditions
qone = ones(1,6);
[q,qd,qdd] = jtraj(q1,q2,11, -qone, qone);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), -qone, 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), qone, 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(qdd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(end,:), zeros(1,6), 'abstol', 1e-10);
end
% mtraj - multi-axis trajectory for arbitrary function
function mtraj_tpoly_test(tc)
q1 = [1 2 3 4 5 6];
q2 = -q1;
q = mtraj(@tpoly, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = mtraj(@tpoly, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = mtraj(@tpoly, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(qdd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(end,:), zeros(1,6), 'abstol', 1e-10);
%% with a time vector
t = linspace(0, 1, 11);
q = mtraj(@tpoly, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = mtraj(@tpoly, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = mtraj(@tpoly, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(qdd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qdd(end,:), zeros(1,6), 'abstol', 1e-10);
end
function mtraj_lspb_test(tc)
q1 = [1 2 3 4 5 6];
q2 = -q1;
q = mtraj(@lspb, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = mtraj(@lspb, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = mtraj(@lspb, q1,q2,11);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(sum(qdd), zeros(1,6), 'abstol', 1e-10);
%% with a time vector
t = linspace(0, 1, 11);
q = mtraj(@lspb, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
[q,qd] = mtraj(@lspb, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
[q,qd,qdd] = mtraj(@lspb, q1,q2,t);
tc.verifyEqual(size(q,1), 11);
tc.verifyEqual(size(q,2), 6);
tc.verifyEqual(q(1,:), q1, 'abstol', 1e-10);
tc.verifyEqual(q(end,:), q2, 'abstol', 1e-10);
tc.verifyEqual(q(6,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qd,1), 11);
tc.verifyEqual(size(qd,2), 6);
tc.verifyEqual(qd(1,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(qd(end,:), zeros(1,6), 'abstol', 1e-10);
tc.verifyEqual(size(qdd,1), 11);
tc.verifyEqual(size(qdd,2), 6);
tc.verifyEqual(sum(qdd), zeros(1,6), 'abstol', 1e-10);
end
% mstraj - multi-axis multi-segment trajectory
function mstraj_test(tc)
via = [4 1; 4 4; 5 2; 2 5];
%Test with QDMAX
out = mstraj(via, [ 2 1 ],[],[4 1],1,1);
expected_out = [4.0000 1.0000
4.0000 1.7500
4.0000 2.5000
4.0000 3.2500
4.3333 3.3333
4.6667 2.6667
4.2500 2.7500
3.5000 3.5000
2.7500 4.2500
2.0000 5.0000];
verifyEqual(tc, out,expected_out ,'absTol',1e-4);
% test plotting
mstraj(via, [ 2 1 ],[],[4 1],1,1);
%Test with QO
out = mstraj(via, [],[2 1 3 4],[4 1],1,1);
expected_out = [4.0000 1.0000
4.0000 4.0000
4.3333 3.3333
4.6667 2.6667
4.2500 2.7500
3.5000 3.5000
2.7500 4.2500
2.0000 5.0000];
verifyEqual(tc, out,expected_out ,'absTol',1e-4);
%Test with QO
out = mstraj(via, [],[1 2 3 4],via(1,:),1,1);
expected_out = [4.0000 1.0000
4.0000 2.5000
4.3333 3.3333
4.6667 2.6667
4.2500 2.7500
3.5000 3.5000
2.7500 4.2500
2.0000 5.0000];
verifyEqual(tc, out,expected_out ,'absTol',1e-4);
[out,t] = mstraj(via, [],[1 2 3 4],via(1,:),1,1);
verifyEqual(tc, size(t,1), size(out,1));
verifyEqual(tc, size(t,2), 1);
[out,t,info] = mstraj(via, [],[1 2 3 4],via(1,:),1,1);
verifyEqual(tc, size(t,1), size(out,1));
verifyEqual(tc, size(t,2), 1);
verifyEqual(tc, length(info), size(via,1)+1);
verifyTrue(tc, isa(info, 'struct'));
end
% qplot - plot joint angle trajectories
function qplot_test(tc)
s = linspace(0, 1, 100)';
qz = [0 0 0 0 0 0]; qr = [1 2 3 4 5 6];
q = (1-s)*qz + s*qr;
clf
qplot(s*20,q);
qplot(q);
end