Point to point trapezoidal paths with the same duration (1st
trajectory of Example 4.2 from of Modelling and Control of Robot
Manipulators by Sciavicco, Siciliano(2nd Edition))
TRAPEZOIDALPTOP
trapezoidal
2
false
0.0
6.2831852
-1.4706289
0.0
6.2831852
2.9412578
0.5
0.1001674
0.5
4.5120541