function [Q,dQ,ddQ] = PlaneamentoJuntas( t,qi,qf,VEL,ACE )

%-- Tipo de planeamento ------------------------------------------------------------
 for k=1:length(qi),
     if ACE(k,1) == -1 || ACE(k,2) == -1, 
        [q, dq, ddq ] = GeradorTraj(t,[qi(k) qf(k)],VEL(k,:),[]);       
     else
         [q, dq, ddq ] = GeradorTraj(t,[qi(k) qf(k)],VEL(k,:),ACE(k,:));       
     end
     Q(k,:) =   q;   dQ(k,:) =  dq;   ddQ(k,:) = ddq;
 end 
%-----------------------------------------------------------------------------------
