Minimum-Time Trajectory Calculation

Calculates a minimum-time trajectory subject to velocity and acceleration constraints

This code outputs the coefficients of up to three segments of a minimum-time trajectory between two states (position and velocity), subject to velocity and acceleration constraints. In some cases, the resulting trajectory will be a bang-bang trajectory, with up to two quadratic segments, each with maximum acceleration in one direction. If the distance between the two states is large, a middle linear segment will be needed as well, at maximum velocity. The code contains an optional plot of the complete trajectory, and outputs the coefficients and switch times needed to compute the state at any time.
Note that this code