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