Variable stomp::FINITE_CENTRAL_DIFF_COEFFS

Variable Documentation

static const double stomp::FINITE_CENTRAL_DIFF_COEFFS[FINITE_DIFF_RULE_LENGTH][FINITE_DIFF_RULE_LENGTH] = {{0, 0, 0, 1, 0, 0, 0}, {0, 1.0 / 12.0, -2.0 / 3.0, 0, 2.0 / 3.0, -1.0 / 12.0, 0}, {0, -1 / 12.0, 16 / 12.0, -30 / 12.0, 16 / 12.0, -1 / 12.0, 0}, {0, 1 / 12.0, -17 / 12.0, 46 / 12.0, -46 / 12.0, 17 / 12.0, -1 / 12.0}}: Contains the coefficients for each of the finite central differentiation (position, velocity, acceleration, and jerk)