squiggles::QuinticPolynomial Class Reference

#include <quinticpolynomial.hpp>

Public Member 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.
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.

Protected Attributes
double	a0
	The coefficients for each term of the polynomial.
double	a1
double	a2
double	a3
double	a4
double	a5

Detailed Description

Definition at line 13 of file quinticpolynomial.hpp.

Constructor & Destructor Documentation

QuinticPolynomial()

squiggles::QuinticPolynomial::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.

Member Function Documentation

calc_first_derivative()

double squiggles::QuinticPolynomial::calc_first_derivative

(

double

t

)

calc_point()

double squiggles::QuinticPolynomial::calc_point

(

double

t

)

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

calc_second_derivative()

double squiggles::QuinticPolynomial::calc_second_derivative

(

double

t

)

calc_third_derivative()

double squiggles::QuinticPolynomial::calc_third_derivative

(

double

t

)

to_string()

std::string squiggles::QuinticPolynomial::to_string ( ) const

inline

Serializes the Quintic Polynomial data for debugging.

Returns

The Quintic Polynomial data.

Definition at line 50 of file quinticpolynomial.hpp.

Member Data Documentation

a0

double squiggles::QuinticPolynomial::a0

protected

The coefficients for each term of the polynomial.

Definition at line 61 of file quinticpolynomial.hpp.

a1

double squiggles::QuinticPolynomial::a1

protected

Definition at line 61 of file quinticpolynomial.hpp.

a2

double squiggles::QuinticPolynomial::a2

protected

Definition at line 61 of file quinticpolynomial.hpp.

a3

double squiggles::QuinticPolynomial::a3

protected

Definition at line 61 of file quinticpolynomial.hpp.

a4

double squiggles::QuinticPolynomial::a4

protected

Definition at line 61 of file quinticpolynomial.hpp.

a5

double squiggles::QuinticPolynomial::a5

protected

Definition at line 61 of file quinticpolynomial.hpp.

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The documentation for this class was generated from the following file:

• include/okapi/squiggles/math/quinticpolynomial.hpp