liba 0.1.15
An algorithm library based on C/C++
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instance structure for quintic polynomial trajectory More...
#include <trajpoly5.h>
Data Fields | |
double | p [6] |
coefficients of position | |
double | v [5] |
coefficients of velocity | |
double | a [4] |
coefficients of acceleration | |
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}