com.acmerobotics.roadrunner.path

Class NthDegreePolynomial

com.acmerobotics.roadrunner.path.NthDegreePolynomial

public class NthDegreePolynomial

Nth-degree polynomial interpolated according to the provided derivatives. Note that this implementation is less performant than class QuinticPolynomial as it uses general matrix operations for derivative computations.

See Also:

class QuinticPolynomial

Constructor Summary

Constructors

Constructor and Description
NthDegreePolynomial(java.util.List<java.lang.Double> start, java.util.List<java.lang.Double> end) Nth-degree polynomial interpolated according to the provided derivatives. Note that this implementation is less performant than class QuinticPolynomial as it uses general matrix operations for derivative computations.

Method Summary

Modifier and Type	Method and Description
double	deriv(double t) Returns the derivative of the polynomial at t.
double	get(double t) Returns the value of the polynomial at t.
double	secondDeriv(double t) Returns the second derivative of the polynomial at t.
double	thirdDeriv(double t) Returns the third derivative of the polynomial at t.

Constructor Detail

NthDegreePolynomial

public NthDegreePolynomial(java.util.List<java.lang.Double> start,
                           java.util.List<java.lang.Double> end)

Nth-degree polynomial interpolated according to the provided derivatives. Note that this implementation is less performant than class QuinticPolynomial as it uses general matrix operations for derivative computations.

Parameters:

start - start derivatives starting with the 0th derivative

end - end derivatives starting with the 0th derivative

start - start derivatives starting with the 0th derivative

end - end derivatives starting with the 0th derivative

See Also:

class QuinticPolynomial

Method Detail

get

public double get(double t)

Returns the value of the polynomial at t.

deriv

public double deriv(double t)

Returns the derivative of the polynomial at t.

secondDeriv

public double secondDeriv(double t)

Returns the second derivative of the polynomial at t.

thirdDeriv

public double thirdDeriv(double t)

Returns the third derivative of the polynomial at t.