13 #ifndef _STRUCT_QUINTIC_SPLINE 14 #define _STRUCT_QUINTIC_SPLINE 27 template <
typename Po
int,
typename T_Po
int>
40 template <
typename Time,
typename Numeric, std::
size_t Dim,
bool Safe,
typename Po
int,
typename T_Po
int>
44 T_Point coeffs = make_quintic_vector<Point, T_Point>(a, b, c, d, e, f);
48 #endif //_STRUCT_QUINTIC_SPLINE
Definition: bernstein.h:20
std::vector< Point, Eigen::aligned_allocator< Point > > T_Point
Definition: effector_spline.h:29
double Time
Definition: effector_spline.h:27
polynom< Time, Numeric, Dim, Safe, Point, T_Point > create_quintic(Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f, const Time min, const Time max)
Definition: quintic_spline.h:41
Definition of a cubic spline.
Represents a polynomf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation...
Definition: polynom.h:34
T_Point make_quintic_vector(Point const &a, Point const &b, Point const &c, Point const &d, Point const &e, Point const &f)
Creates coefficient vector of a quintic spline defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + c(t - t_min_)^2 + d(t - t_min_)^3 + e(t - t_min_)^4 + f(t - t_min_)^5.
Definition: quintic_spline.h:28
Eigen::Matrix< Numeric, 3, 1 > Point
Definition: effector_spline.h:28