我们假设我们的轨迹从原点（0,0）出发，终点B的坐标是（2,1）。通过Matlab就可以计算出边界条件，最终画出曲线。-We assume that our path from the origin (0,0) starting and ending coordinates of B are (2,1). Matlab can be calculated by boundary conditions, the final draw the curve.