In the previous chapters, we have learned how to describe a path geometrically, by means of parametric equations. Now, we need to learn how to let the robot run along those curves.
Given a planned path s, we introduce the concept of trajectory s(t), defined as a function that samples points from the path s along the time t.
A trajectory transforms a static path into a dynamic function of time. Importantly, any number of different trajectories can be generated from the same path. This is easy ...
