/// Trayectoria 1 extraida de fichero excel con las trayectorias obtenidas mediante interpolacion con spline() en Matlab
float tray_x[] = {0,0.05,0.1,0.15,0.2,0.25,0.3,0.35,0.4,0.45,0.5,0.55,0.6,0.65,0.7,0.75,0.8,0.85,0.9,0.95,1,1.05,1.1,1.15,1.2,1.25,1.3,1.35,1.4,1.45,1.5,1.55,1.6,1.65,1.7,1.75,1.8,1.85,1.9,1.95,2,2.05,2.1,2.15,2.2,2.25,2.3,2.35,2.4,2.45,2.5,2.55,2.6,2.65,2.7,2.75,2.8,2.85,2.9,2.95,3,3.05,3.1,3.15,3.2,3.25,3.3,3.35,3.4,3.45,3.5,3.55,3.6,3.65,3.7,3.75,3.8,3.85,3.9,3.95,4,4.05,4.1,4.15,4.2,4.25,4.3,4.35,4.4,4.45,4.5,4.55,4.6,4.65,4.7,4.75,4.8,4.85,4.9,4.95,5,5.05,5.1,5.15,5.2,5.25,5.3,5.35,5.4,5.45,5.5,5.55,5.6,5.65,5.7,5.75,5.8,5.85,5.9,5.95,6,6.05,6.1,6.15,6.2,6.25,6.3,6.35,6.4,6.45,6.5,6.55,6.6,6.65,6.7,6.75,6.8,6.85,6.9,6.95,7,7.05,7.1,7.15,7.2,7.25,7.3,7.35,7.4,7.45,7.5,7.55,7.6,7.65,7.7,7.75,7.8,7.85,7.9,7.95,8,8.05,8.1,8.15,8.2,8.25,8.3,8.35,8.4,8.45,8.5,8.55,8.6,8.65,8.7,8.75,8.8,8.85,8.9,8.95,9,9.05,9.1,9.15,9.2,9.25,9.3,9.35,9.4,9.45,9.5,9.55,9.6,9.65,9.7,9.75,9.8,9.85,9.9,9.95,10};
float tray_y[] = {0,0.0309,0.057,0.0786,0.096,0.1094,0.119,0.1251,0.128,0.1279,0.125,0.1196,0.112,0.1024,0.091,0.0781,0.064,0.0489,0.033,0.0166,0,-0.0166,-0.033,-0.0489,-0.064,-0.0781,-0.091,-0.1024,-0.112,-0.1196,-0.125,-0.1279,-0.128,-0.1251,-0.119,-0.1094,-0.096,-0.0786,-0.057,-0.0309,0,0.0357,0.076,0.1202,0.168,0.2187,0.272,0.3272,0.384,0.4417,0.5,0.5582,0.616,0.6727,0.728,0.7812,0.832,0.8797,0.924,0.9642,1,1.0309,1.057,1.0786,1.096,1.1094,1.119,1.1252,1.1281,1.1279,1.1251,1.1197,1.1121,1.1024,1.0911,1.0782,1.0641,1.0489,1.033,1.0166,1,0.9834,0.967,0.9511,0.9359,0.9217,0.9088,0.8974,0.8878,0.8802,0.8748,0.8719,0.8717,0.8746,0.8808,0.8904,0.9038,0.9212,0.9429,0.9691,1,1.0358,1.0762,1.1205,1.1684,1.2192,1.2726,1.3279,1.3847,1.4426,1.5009,1.5592,1.6169,1.6737,1.7289,1.7821,1.8328,1.8804,1.9245,1.9645,2,2.0306,2.0564,2.0776,2.0946,2.1076,2.1169,2.1227,2.1252,2.1248,2.1217,2.1162,2.1085,2.0989,2.0876,2.075,2.0612,2.0465,2.0313,2.0157,2,1.9845,1.9694,1.9549,1.9411,1.9284,1.9169,1.9068,1.8984,1.8918,1.8873,1.885,1.8851,1.888,1.8937,1.9025,1.9146,1.9302,1.9495,1.9727,2,2.0316,2.0671,2.1063,2.1489,2.1943,2.2424,2.2928,2.3451,2.3991,2.4542,2.5103,2.567,2.6239,2.6807,2.737,2.7926,2.847,2.8999,2.951,3,3.0465,3.0901,3.1305,3.1674,3.2005,3.2293,3.2536,3.273,3.2872,3.2958,3.2984,3.2949,3.2847,3.2676,3.2432,3.2111,3.1712,3.1229,3.0659,3};
float tray_z[] = {1,1.0309,1.057,1.0786,1.096,1.1094,1.119,1.1251,1.128,1.1279,1.125,1.1196,1.112,1.1024,1.091,1.0781,1.064,1.0489,1.033,1.0166,1,0.9834,0.967,0.9511,0.936,0.9219,0.909,0.8976,0.888,0.8804,0.875,0.8721,0.872,0.8749,0.881,0.8906,0.904,0.9214,0.943,0.9691,1,1.0357,1.076,1.1202,1.168,1.2187,1.272,1.3272,1.384,1.4417,1.5,1.5582,1.616,1.6727,1.728,1.7812,1.832,1.8797,1.924,1.9642,2,2.0309,2.057,2.0786,2.096,2.1094,2.119,2.1252,2.1281,2.1279,2.1251,2.1197,2.1121,2.1024,2.0911,2.0782,2.0641,2.0489,2.033,2.0166,2,1.9834,1.967,1.9511,1.9359,1.9217,1.9088,1.8974,1.8878,1.8802,1.8748,1.8719,1.8717,1.8746,1.8808,1.8904,1.9038,1.9212,1.9429,1.9691,2,2.0358,2.0762,2.1205,2.1684,2.2192,2.2726,2.3279,2.3847,2.4426,2.5009,2.5592,2.6169,2.6737,2.7289,2.7821,2.8328,2.8804,2.9245,2.9645,3,3.0306,3.0564,3.0776,3.0946,3.1076,3.1169,3.1227,3.1252,3.1248,3.1217,3.1162,3.1085,3.0989,3.0876,3.075,3.0612,3.0465,3.0313,3.0157,3,2.9845,2.9694,2.9549,2.9411,2.9284,2.9169,2.9068,2.8984,2.8918,2.8873,2.885,2.8851,2.888,2.8937,2.9025,2.9146,2.9302,2.9495,2.9727,3,3.0316,3.0671,3.1063,3.1489,3.1943,3.2424,3.2928,3.3451,3.3991,3.4542,3.5103,3.567,3.6239,3.6807,3.737,3.7926,3.847,3.8999,3.951,4,4.0465,4.0901,4.1305,4.1674,4.2005,4.2293,4.2536,4.273,4.2872,4.2958,4.2984,4.2949,4.2847,4.2676,4.2432,4.2111,4.1712,4.1229,4.0659,4};
/// LockAhead
float L = 0.5;
e-REdING. Biblioteca de la Escuela Superior de Ingenieros de Sevilla.
