a_trajpoly5 Struct Reference

instance structure for quintic polynomial trajectory More...

#include <trajpoly5.h>

Public Member Functions
void	gen (a_real ts, a_real p0, a_real p1, a_real v0=0, a_real v1=0, a_real a0=0, a_real a1=0)
a_real	pos (a_real x) const
a_real	vel (a_real x) const
a_real	acc (a_real x) const
void	c0 (a_real x[6]) const
void	c1 (a_real x[5]) const
void	c2 (a_real x[4]) const

Data Fields
a_real	c [6]

Detailed Description

instance structure for quintic polynomial trajectory

$$\begin{array}{r}\begin{array}{l}p(t)=c_0+c_1(t-t_0)+c_2{(t-t_0)}^2+c_3{(t-t_0)}^3+c_4{(t-t_0)}^4+c_5{(t-t_0)}^5\\ \dot{p}(t)=c_1+2c_2(t-t_0)+3c_3{(t-t_0)}^2+4c_4{(t-t_0)}^3+5c_5{(t-t_0)}^4\\ \ddot{p}(t)=2c_2+6c_3(t-t_0)+12c_4{(t-t_0)}^2+20c_5{(t-t_0)}^3\end{array}\end{array}$$

Field Documentation

c

a_real a_trajpoly5::c[6]

coefficients of position

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

• trajpoly5.h