# Trajectory generation for point to point motion with velocity, acceleration, jerk and snap constrain in matlab

The following Matlab project contains the source code and Matlab examples used for trajectory generation for point to point motion with velocity, acceleration, jerk and snap constrain .
[Y,T]=GenTraj(A,V,P,Tj,Ts) returns the position, velocity and acceleration profiles for a snap controlled law from the specified constraints on maximum velocity V, maximum acceleration A, desired traveling distance P, Jerk time Tj and Snap time Ts.