a_trajpoly5 Struct Reference

instance structure for quintic polynomial trajectory More...

#include <trajpoly5.h>

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

Data Fields
a_float	p [6]
a_float	v [5]
a_float	a [4]

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}

Field Documentation

a

a_float a_trajpoly5::a[4]

coefficients of acceleration

p

a_float a_trajpoly5::p[6]

coefficients of position

v

a_float a_trajpoly5::v[5]

coefficients of velocity

---

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

• trajpoly5.h