functioncheckConstraints
Returns true if the position and velocity profiles are correct (no direction changes)
Inputs
| Type | Name | Default | Description |
|---|---|---|---|
| Real[4,3] | a | Coefficients of the cubic polynomial | |
| SI.Time | ti | Initial time | |
| SI.Time | tf | Final time |
Outputs
| Type | Name | Default | Description |
|---|---|---|---|
| Boolean | correct | =true, if the direction of motion doesn't change during the motion |