14 #include "../../include/ecl/geometry/tension_function.hpp" 29 value = (-1.0*tau*
z_0*cosh(tau*(
x_f-x)) + tau*
z_f*cosh(tau*(x-x_0)))/(tau*tau*sinh(tau*h));
30 value += -1.0*(
y_0-
z_0/(tau*tau))/h;
31 value += (
y_f-
z_f/(tau*tau))/h;
40 value = (tau*tau*
z_0*sinh(tau*(
x_f-x)) + tau*tau*
z_f*sinh(tau*(x-x_0)))/(tau*tau*sinh(tau*h));
48 value = (
z_0*sinh(tau*(
x_f-x)) +
z_f*sinh(tau*(x-x_0)))/(tau*tau*sinh(tau*h));
54 namespace blueprints {
68 void TensionSecondDerivativeInterpolation::apply(
base_type &
function)
const {
71 function.z_0 = yddot_initial;
72 function.z_f = yddot_final;
73 function.x_0 = x_initial;
74 function.x_f = x_final;
75 function.y_0 = y_initial;
76 function.y_f = y_final;
88 return TensionSecondDerivativeInterpolation(x_i, y_i, yddot_i, x_f, y_f, yddot_f);
Embedded control libraries.
double dderivative(const double &tau, const double &x) const
Generates the 2nd derivative for a certain tension at the specified point.
double derivative(const double &tau, const double &x) const
Generates the derivative for a certain tension at the specified point.
Representation of a tension function.
double operator()(const double &tau, const double &x) const
Calculates the value for a certain tension at the specified point.
Blueprint for interpolating a tension function between end point conditions.