QuarticPoly.m

classdef QuarticPoly
        % QuarticPoly Summary
        
        properties
            %coefficients (c0, c1, c2, c3, c4)
            c
        end
        
        methods (Access = public)
            
            function obj = QuarticPoly(xi0, dxi0, ddxi0, dxiT, ddxiT, T)
                c012= [xi0; dxi0 ; ddxi0 / 2.0];
                
                M1 = [0, 1, 2*T;
                          0, 0, 2   ];
                      
                M2= [3*T^2,    4*T^3; 
                             6*T,  12*T^2];
                       
                 c34 = M2\([dxiT; ddxiT] - M1 * c012);
                 obj.c = [c012; c34];
            end
            
            function x = X(obj, t)
                 x = obj.c(1) + obj.c(2).*t + obj.c(3).*t.^2 + obj.c(4).*t.^3 + obj.c(5).*t.^4;   
            end
        
            function x = dX(obj, t)
                 x = obj.c(2) + 2*obj.c(3).*t + 3*obj.c(4).*t.^2 + 4*obj.c(5).*t.^3;   
            end
        
            function x = ddX(obj, t)
                 x = 2*obj.c(3) + 6*obj.c(4).*t + 12*obj.c(5).*t.^2;   
            end
        
            function x = dddX(obj, t)
                 x = 2 + 6*obj.c(4) + 24*obj.c(5).*t;   
            end

            
        end
end