Function motion_planning::hermite::h_5pp

pub fn h_5pp(t: f64, n: usize) -> f64

Computes the value of the second time-derivative of a quintic Hermite basis function.

In other words, this function is the second time-derivative of the h_5 function, or equivalently the first time-derivative of the h_5p function.

Examples

use motion_planning::hermite::h_5pp;

// at t=0, all of h_n^5'' are `0` except for `h_2^5''`.
assert_eq!(h_5pp(0., 0), 0.);
assert_eq!(h_5pp(0., 1), 0.);
assert_eq!(h_5pp(0., 2), 1.);
assert_eq!(h_5pp(0., 3), 0.);
assert_eq!(h_5pp(0., 4), 0.);
assert_eq!(h_5pp(0., 5), 0.);

// at t=1, all of h_n^5'' are `0` except for `h_3^5''`.
assert_eq!(h_5pp(1., 0), 0.);
assert_eq!(h_5pp(1., 1), 0.);
assert_eq!(h_5pp(1., 2), 0.);
assert_eq!(h_5pp(1., 3), 1.);
assert_eq!(h_5pp(1., 4), 0.);
assert_eq!(h_5pp(1., 5), 0.);

Panics

If n is not one of 0, 1, 2, 3, 4, or 5, this function panics.

use motion_planning::hermite::h_5pp;
h_5pp(t, 7);