This book is supposed to teach you methods of numerical computing that are practical, efficient, and (insofar as possible) elegant. We presume throughout this book that you, the reader, have particular tasks that you want to get done. We view our job as educating you on how to proceed. Occasionally we may try to reroute you briefly onto a particularly beautiful side road; but by and large, we will guide you along main highways that lead to practical destinations.

用qt编写的笛卡尔空间直线轨迹插值算法，将插值结果保存到文件中，利用matlab画出直线轨迹，及速度加速曲线。其中速度规划采用梯形速度规划。插值算法代码用qt打开，轨迹结果用matlab打开画出轨迹查看。

用qt编写的笛卡尔空间圆弧轨迹插值算法，将插值结果保存到文件中，利用matlab画出圆弧轨迹，及速度加速曲线。其中速度规划采用梯形速度规划。插值算法代码用qt打开，轨迹结果用matlab打开画出轨迹查看。