Polynomial3_Interpolator Class Reference

Public Member Functions
def	__init__
def	find_coefficients
def	interpolated_position

Public Attributes
	a
	b
	c
	d

Detailed Description

A polynomial of degree three in the form:

f(t) = a * t^3 + b * t^2 + c * t + d 

the coefficients are: a, b, c, d

each coefficient can be n-element vector or matrix (or a multi-dimensional numpy array) 

Definition at line 283 of file polynomials.py.

Constructor & Destructor Documentation

def __init__

(

self

)

Definition at line 295 of file polynomials.py.

Member Function Documentation

def find_coefficients	(		self,
			total_time,
			start_position,
			end_position,
			start_velocity,
			end_velocity
	)

returns four coefficients of a polynomial of third degree which generates position as a function of time according to the given boundary conditions as
the coefficients are: a, b, c, d
property "total_time" indicates the total time of motion
each coefficient is a n-element vector (numpy array) 
    
f(t) = a * t^3 + b * t^2 + c * t + d 

the output of the polynomial has the same structure of the coefficients

Definition at line 301 of file polynomials.py.

def interpolated_position	(		self,
			t
	)

return "f(t)" at time: "t"
where:
    
f(t) = a * t^3 + b * t^2 + c * t + d 
    
coefficients a, b, c, d are given via "coeff" and can be any vector or multi-dimensional numpy array
the output has the same structure of the coefficients

Definition at line 344 of file polynomials.py.

Member Data Documentation

a

Definition at line 296 of file polynomials.py.

b

Definition at line 297 of file polynomials.py.

c

Definition at line 298 of file polynomials.py.

d

Definition at line 299 of file polynomials.py.

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

• polynomials.py