Class QuinticPolynomial¶
Defined in File quinticpolynomial.hpp
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)¶

inline std::string to_string() const¶
Serializes the Quintic Polynomial data for debugging.
 Returns
The Quintic Polynomial data.

QuinticPolynomial(double s_p, double s_v, double s_a, double g_p, double g_v, double g_a, double t)¶