Variable stomp::FINITE_FORWARD_DIFF_COEFFS

Variable Documentation

static const double stomp::FINITE_FORWARD_DIFF_COEFFS[FINITE_DIFF_RULE_LENGTH][FINITE_DIFF_RULE_LENGTH] = {{1, 0, 0, 0, 0, 0, 0}, {-25.0 / 12.0, 4.0, -3.0, 4.0 / 3.0, -1.0 / 4.0, 0, 0}, {15.0 / 4.0, -77.0 / 6.0, 107.0 / 6.0, -13.0, 61.0 / 12.0, -5.0 / 6.0, 0}, {-49 / 8, 29, -461 / 8, 62, -307 / 8, 13, -15 / 8}}: Contains the coefficients for each of the finite forward differentiation (position, velocity, acceleration, and jerk)