Class QuinticPolynomial¶
Defined in File quinticpolynomial.hpp
Class Documentation¶
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class
squiggles
::
QuinticPolynomial
¶ Public Functions
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QuinticPolynomial
(double s_p, double s_v, double s_a, double g_p, double g_v, double g_a, double t)¶ Defines the polynomial function for a spline in one dimension.
- Parameters
s_p
: The starting position of the curve in meters.s_v
: The starting velocity of the curve in meters per second.s_a
: The starting acceleration of the curve in meters per second per second.g_p
: The goal or ending position of the curve in meters.g_v
: The goal or ending velocity of the curve in meters per second.g_a
: The goal or ending acceleration of the curve in meters per second per second.t
: The desired duration for the curve in seconds.
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double
calc_point
(double t)¶ Calculates the values of the polynomial and its derivatives at the given time stamp.
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double
calc_first_derivative
(double t)¶
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double
calc_second_derivative
(double t)¶
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double
calc_third_derivative
(double t)¶
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std::string
to_string
()¶ Serializes the Quintic Polynomial data for debugging.
- Return
The Quintic Polynomial data.
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