I am looking at the 254 code for QuinticHermiteSpline.java in trajectory_lib, and here is a piece of the code I don’t understand:
double a0_delta = Math.tan(Utils.boundHalfRadians(start.theta - angle_offset));
double a1_delta = Math.tan(Utils.boundHalfRadians(end.theta - angle_offset));
a = -(3.0 * a0_delta + 3.0 * a1_delta) / (d*d*d*d);
b = (8.0 * a0_delta + 7.0 * a1_delta) / (d*d*d);
c = -(6.0 * a0_delta + 4.0 * a1_delta) / (d*d);
this.d = 0.0;
e = a0_delta;
Can someone please explain what a,b,c,d, and e are? Where do those numbers before a0_delta and a1_delta come from?
I originally thought they were coefficients to x^5, x^4…x but after plugging in two waypoints for a spline, (0,0,0) and (1,1,0) and plugging it in to desmos graphing calculator, the graph does not go through the points (0,0) and (1,1).