Class QuarticPolynomial

Defined in File spline_and_polynomial.hpp

Class Documentation

class QuarticPolynomial

Represents a quartic polynomial defined by its initial position, initial velocity, final position, final velocity, final acceleration, and time duration.

Represents a quartic polynomial defined by its initial position, initial velocity, initial acceleration, final velocity, final acceleration, and time duration.

Public Functions

QuarticPolynomial(const float &xs, const float &vxs, const float &xe, const float &vxe, const float &axe, const float &time)

Constructor for QuarticPolynomial.

Parameters:

xs – Initial position.
vxs – Initial velocity.
axs – Initial acceleration.
vxe – Final velocity.
axe – Final acceleration.
time – Duration over which the polynomial is defined.

inline float calc_point(const float &t) const

Calculates the value of the polynomial at a given time.

Parameters:: t – Time at which to evaluate the polynomial.
Returns:: Value of the polynomial at time t.

inline float calc_first_derivative(const float &t) const

Calculates the derivative of the polynomial at a given time.

Parameters:: t – Time at which to evaluate the polynomial.
Returns:: Derivative of the polynomial at time t.

inline float calc_second_derivative(const float &t) const

Calculates the second derivative of the polynomial at a given time.

Parameters:: t – Time at which to evaluate the polynomial.
Returns:: Second derivative of the polynomial at time t.

inline float calc_third_derivative(const float &t) const

Calculates the third derivative of the polynomial at a given time.

Parameters:: t – Time at which to evaluate the polynomial.
Returns:: Third derivative of the polynomial at time t.

inline std::tuple<float, float, float, float> calc_all(const float &t) const

Calculates the value, first derivative, second derivative, and third derivative of the polynomial at a given time.

Parameters:: t – Time at which to evaluate the polynomial.
Returns:: A tuple containing the value, first derivative, second derivative, and third derivative of the polynomial at time t.

Public Members

float a_0

float a_1

float a_2

float a_3

float a_4