builds s1traj as an ExponentialPlusPiecewisePolynomial trajectory using alpha and beta
builds s1traj as an ExponentialPlusPiecewisePolynomial trajectory using alpha and beta

scottviteri/drake,thientu/drake,psiorx/drake,hanssusilo/drake,thientu/drake,thientu/drake,scottviteri/drake,thientu/drake,billhoffman/drake,crogers3/drake,thientu/drake,crogers3/drake,psiorx/drake,billhoffman/drake,billhoffman/drake,psiorx/drake,scottviteri/drake,hanssusilo/drake,psiorx/drake,scottviteri/drake,thientu/drake,edowson/drake,crogers3/drake,scottviteri/drake,sheim/drake,billhoffman/drake,psiorx/drake,crogers3/drake,billhoffman/drake,sheim/drake,psiorx/drake,sheim/drake,crogers3/drake,edowson/drake,hanssusilo/drake,hanssusilo/drake,sheim/drake,psiorx/drake,edowson/drake,hanssusilo/drake,hanssusilo/drake,sheim/drake,sheim/drake,sheim/drake,sheim/drake,hanssusilo/drake,billhoffman/drake,thientu/drake,scottviteri/drake,crogers3/drake,edowson/drake,psiorx/drake,edowson/drake,edowson/drake,billhoffman/drake,edowson/drake,hanssusilo/drake,scottviteri/drake,crogers3/drake,billhoffman/drake,edowson/drake,crogers3/drake