com.acmerobotics.roadrunner.path

Class QuinticPolynomial

com.acmerobotics.roadrunner.path.QuinticPolynomial

public class QuinticPolynomial

Quintic polynomial interpolated according to the provided derivatives.

Constructor Detail

QuinticPolynomial

public QuinticPolynomial(double start,
                         double startDeriv,
                         double startSecondDeriv,
                         double end,
                         double endDeriv,
                         double endSecondDeriv)

Quintic polynomial interpolated according to the provided derivatives.

Parameters:

start - start value

startDeriv - start derivative

startSecondDeriv - start second derivative

end - end value

endDeriv - end derivative

endSecondDeriv - end second derivative

Method Detail

getA

public double getA()

getB

public double getB()

getC

public double getC()

getD

public double getD()

getE

public double getE()

getF

public double getF()

get

public double get(double t)

Returns the value of the polynomial at t.

See Also:

t

deriv

public double deriv(double t)

Returns the derivative of the polynomial at t.

See Also:

t

secondDeriv

public double secondDeriv(double t)

Returns the second derivative of the polynomial at t.

See Also:

t

thirdDeriv

public double thirdDeriv(double t)

Returns the third derivative of the polynomial at t.

See Also:

t

toString

@NotNull
public java.lang.String toString()