Class ThirdPolynomial

• Defined in File spline_and_polynomial.hpp

Class Documentation

class ThirdPolynomial

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

Public Functions

ThirdPolynomial(float xs, float xe, float vxe, float axe, float time)

Constructor for third_polynomial.

Parameters:

• xs – Initial position.

• xe – Final position.

• 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() 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