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zhm-real
44 lines
945 B
Python
44 lines
945 B
Python
"""
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Quartic Polynomial
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"""
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import numpy as np
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class QuarticPolynomial:
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def __init__(self, x0, v0, a0, v1, a1, T):
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A = np.array([[3 * T ** 2, 4 * T ** 3],
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[6 * T, 12 * T ** 2]])
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b = np.array([v1 - v0 - a0 * T,
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a1 - a0])
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X = np.linalg.solve(A, b)
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self.a0 = x0
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self.a1 = v0
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self.a2 = a0 / 2.0
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self.a3 = X[0]
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self.a4 = X[1]
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def calc_xt(self, t):
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xt = self.a0 + self.a1 * t + self.a2 * t ** 2 + \
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self.a3 * t ** 3 + self.a4 * t ** 4
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return xt
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def calc_dxt(self, t):
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xt = self.a1 + 2 * self.a2 * t + \
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3 * self.a3 * t ** 2 + 4 * self.a4 * t ** 3
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return xt
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def calc_ddxt(self, t):
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xt = 2 * self.a2 + 6 * self.a3 * t + 12 * self.a4 * t ** 2
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return xt
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def calc_dddxt(self, t):
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xt = 6 * self.a3 + 24 * self.a4 * t
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return xt
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