Let $w(t)$ be a blended piecewise$-$

linear trajectory through the points $\{w^0,w^1,w^2\}$ with segment traversal times of $\{T_k\}$

and a blend transition time of $T.$ Then the blend acceleration $a$ is as in Prop. $4-7-2,$

and the complete trajectory is:

using matlab and show me the code