MATLAB File Help: HebiTrajectory
HebiTrajectory
```  HebiTrajectory represents a precomputed trajectory path

Trajectories are created by a HebiTrajectoryGenerator and provide
a way to asynchronously move through a trajectory and to
visualize the planned path.

HebiTrajectory Methods:
getDuration     - returns the total duration [s]
getState        - returns position/velocity/acceleration
at any given time.
getWaypointTime - returns the timestamp for each waypoint

Example
% Create trajectory
trajGen = HebiTrajectoryGenerator(kin);
trajectory = trajGen.newJointMove([start; finish]);

% Visualize trajectory
t = 0:0.01:trajectory.getDuration();
[pos, vel, accel] = trajectory.getState(t);
HebiUtils.plotTrajectory(trajectory);

% Manually execute position/velocity/effort trajectory
cmd = CommandStruct();
t0 = tic();
t = toc(t0);
while t < trajectory.getDuration()
fbk = group.getNextFeedback();

% get state at current time interval
t = toc(t0);
[pos, vel, accel] = trajectory.getState(t);

% compensate for gravity
gravityVec = -[fbk.accelX(1) fbk.accelY(1) fbk.accelZ(1)];
gravCompEffort = kin.getGravCompEfforts(fbk.position, gravityVec);

% compensate for accelerations
accelCompEffort = kin.getDynamicCompEfforts(...
fbk.position, ... % Used for calculating jacobian
pos, vel, accel);

% send to hardware
cmd.position = pos;
cmd.velocity = vel;
cmd.effort = gravCompEffort + accelCompEffort;
group.send(cmd);

end```
See also
Class Details
 Sealed true Construct on load false
Method Summary
 getDuration returns the total duration of the trajectory [s] getState returns the state of [pos, vel, accel] at time t getWaypointTime returns the input time for each waypoint [s]