Function robot_controllers::QuinticSpline

• Defined in File trajectory_spline_sampler.h

Function Documentation

static void robot_controllers::QuinticSpline(double p0, double v0, double a0, double p1, double v1, double a1, double t, Spline &s)

Create a quintic spline with between (p0,v0,a0) and (p1,v1,a1)

Parameters

• p0 – Starting position.

• v0 – Starting velocity.

• a0 – Starting acceleration.

• p1 – Ending position.

• v1 – Ending velocity.

• a1 – Ending acceleration.

• t – Time between start and end.

• s – The spline