B样条的姿态插值RPY插值

clc;clear;close; t= [0,5,7,8,10,15,18]; q= [3.31 -3.01 -1.07 4.48 1.52 ,5.53, 10.54, 15.55 ,20.56, 25.57, 30.52;-2.38 -3.53 5.81 2.97 -1.25, -1.25 ,-1.25 ,-1.25 ,-1.25 ,-1.25, -1.25;7.14 10.89 6.72 4.

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