65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
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/**
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* Copyright 2020 Jonathan Bayless
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*
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* Use of this source code is governed by an MIT-style license that can be found
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* in the LICENSE file or at https://opensource.org/licenses/MIT.
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*/
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#ifndef _MATH_QUINTIC_POLYNOMIAL_HPP_
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#define _MATH_QUINTIC_POLYNOMIAL_HPP_
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#include <string>
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namespace squiggles {
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class QuinticPolynomial {
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public:
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/**
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* Defines the polynomial function for a spline in one dimension.
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*
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* @param s_p The starting position of the curve in meters.
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* @param s_v The starting velocity of the curve in meters per second.
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* @param s_a The starting acceleration of the curve in meters per second per
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* second.
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* @param g_p The goal or ending position of the curve in meters.
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* @param g_v The goal or ending velocity of the curve in meters per second.
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* @param g_a The goal or ending acceleration of the curve in meters per
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* second per second.
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* @param t The desired duration for the curve in seconds.
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*/
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QuinticPolynomial(double s_p,
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double s_v,
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double s_a,
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double g_p,
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double g_v,
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double g_a,
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double t);
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/**
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* Calculates the values of the polynomial and its derivatives at the given
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* time stamp.
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*/
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double calc_point(double t);
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double calc_first_derivative(double t);
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double calc_second_derivative(double t);
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double calc_third_derivative(double t);
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/**
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* Serializes the Quintic Polynomial data for debugging.
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*
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* @return The Quintic Polynomial data.
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*/
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std::string to_string() const {
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return "QuinticPolynomial: {0: " + std::to_string(a0) +
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" 1: " + std::to_string(a1) + " 2: " + std::to_string(a2) +
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" 3: " + std::to_string(a3) + " 4: " + std::to_string(a4) +
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" 5: " + std::to_string(a5) + "}";
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}
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protected:
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/**
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* The coefficients for each term of the polynomial.
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*/
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double a0, a1, a2, a3, a4, a5;
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};
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} // namespace squiggles
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#endif
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