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
testsimple.m
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runcyclesimple.m
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