a_trajpoly5 Struct Reference

instance structure for quintic polynomial trajectory More...

#include <trajpoly5.h>

Public Member Functions
void	gen (double ts, double p0, double p1, double v0=0, double v1=0, double a0=0, double a1=0)
void	gen0 (double ts, double p0, double p1, double v0=0, double v1=0, double a0=0, double a1=0)
double	pos (double x) const
void	gen1 ()
double	vel (double x) const
void	gen2 ()
double	acc (double x) const

Data Fields
double	p [6]
	coefficients of position
double	v [5]
	coefficients of velocity
double	a [4]
	coefficients of acceleration

Detailed Description

instance structure for quintic polynomial trajectory

\begin{aligned} \begin{array}{l} p(t)=c_{0}+c_{1}\left(t-t_{0}\right)+c_{2}\left(t-t_{0}\right)^{2}+c_{3}\left(t-t_{0}\right)^{3}+c_{4}\left(t-t_{0}\right)^{4}+c_{5}\left(t-t_{0}\right)^{5}\\ \dot{p}(t)=c_{1}+2 c_{2}\left(t-t_{0}\right)+3 c_{3}\left(t-t_{0}\right)^{2}+4 c_{4}\left(t-t_{0}\right)^{3}+5 c_{5}\left(t-t_{0}\right)^{4}\\ \ddot{p}(t)=2 c_{2}+6 c_{3}\left(t-t_{0}\right)+12 c_{4}\left(t-t_{0}\right)^{2}+20 c_{5}\left(t-t_{0}\right)^{3} \end{array} \end{aligned}

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

• trajpoly5.h