hi jeff,
I cannot follow up the the thread now.
the equations is derived from the same math from the simple_TP
i change the matlab source  of simple_TP from the wiki  to simualte the 
trajectory math.
both I changed math and the original one works fine ,after a negtive velocity 
problem is solved.
I think your tests may encounter the same problem.

pls see the files.

zhangj

Attachment: testsimple.m
Description: Binary data

Attachment: runcyclesimple.m
Description: Binary data

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