Class QuinticPolynomial

Class Documentation

class squiggles::QuinticPolynomial

Public Functions

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.

double calc_point(double t)

Calculates the values of the polynomial and its derivatives at the given time stamp.

double calc_first_derivative(double t)
double calc_second_derivative(double t)
double calc_third_derivative(double t)
std::string to_string() const

Serializes the Quintic Polynomial data for debugging.

Return

The Quintic Polynomial data.

Protected Attributes

double a0

The coefficients for each term of the polynomial.

double a1
double a2
double a3
double a4
double a5