Bspine trajectory planning

clc;clear;close; t= [0,5,7,8,10,15,18]; q= [3, 2, 0, -2, -5, 0, 6, 12, 0, -3, 8]'; n=size(q,1)-1; p=4; NodeVector=[0, 0, 0, 0, 0, 2.5, 6, 7.5, 9, 12.5, 16.5, 18, 18, 18, 18, 18]; v0=2; vn=-3; a0=0; an

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