Class QuarticPolynomialMiddlePose

• Defined in File spline_and_polynomial.hpp

Class Documentation

class QuarticPolynomialMiddlePose

Public Functions

QuarticPolynomialMiddlePose(float xs, float middle_pose, float xe, float vxe, float axe, float t_middle, float time)

Constructor for QuarticPolynomial.

Parameters:

• xs – Initial position.

• middle_pose – Middle position.

• xe – Final position.

• vxe – Final velocity.

• axe – Final acceleration.

• t_middle – Time at which the middle pose is reached.

• 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