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. 2010 Oct 16;30(3):675–697. doi: 10.1007/s10827-010-0285-9

Fig. 4.

Fig. 4

Abstract generator for trajectories consisting of parabolic segments. Uniform motion along straight lines in velocity space (arbitrary units) is equivalent to parabolic motion in position space. Each colored arrow represents a parabolic segment and its direction of execution. When the end of an arrow is reached, one of the two successor arrows is selected. Arrows are numbered to enable future reference