Old behaviour

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

tg = tpoly1(0, 1, 20)

with elementsx,y,yd,ydd, which could be plotted witht1plot.

While

tg = jtraj(q0, qf, 20)

had elementst,q,qd,qdd, and you could plot the element usingqplot(tg.q).

New behaviour

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

• the elements are always calledx,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 beqplot(tg.y)