From e4fb755471bc476d7fe21f17f1125bc311466baf Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Sun, 5 Jan 2020 22:24:46 +0900 Subject: [PATCH] update jupyter docs --- .../quintic_polynomials_planner.ipynb | 16 +++++++++++++++- 1 file changed, 15 insertions(+), 1 deletion(-) diff --git a/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.ipynb b/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.ipynb index bc829f2e..7b83a87b 100644 --- a/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.ipynb +++ b/PathPlanning/QuinticPolynomialsPlanner/quintic_polynomials_planner.ipynb @@ -12,7 +12,21 @@ { "cell_type": "markdown", "source": [ - "## Quintic polynomials for one dimension robot motion\n", + "## Quintic polynomials for one dimensional robot motion\n", + "\n", + "We assume a dimensional robot motion $x(t)$ at time $t$ is formulated as a quintic polynomials based on time as follows:\n", + "\n", + "$x(t) = a_0+a_1t+a_2t^2+a_3t^3+a_4t^4$\n", + "\n", + "a_0, a_1. a_2, a_3 are parameters of the quintic polynomial.\n", + "\n", + "So, when time is 0,\n", + "\n", + "$x(0) = a_0 = x_s$\n", + "\n", + "x_s is a start x position.\n", + "\n", + "\n", "\n", "$e^{i\\pi} + 1 = 0$\n", "\n",