Trajectory Generation

I want to move the manipulator (6 DOF) along a desired trajectory.
I defined the target positions in program.ops file  as
    const frame moveto = frame(vector(x,y,z), rotation(q1,q2,q3))  // First
point
    const double t = t1
    do CartesianGenerator.moveTo( moveto, t1)
    ..........
    .............
    .............

Similarly I defined the next point and so on upto last target point.
There is some waiting time between each target point.
In standart Output the resuIts  are coming as per input points.
What is the best way to define the trajectory?
How can I make use of function.ops file in this application?

--
H.S.Randhawa

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