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(float xs, float vxs, float xe, float vxe, float axe, 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(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(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(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(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(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