control.flatsys.BezierFamily

class control.flatsys.BezierFamily(N, T=1)

Polynomial basis functions.

This class represents the family of polynomials of the form

\phi_i(t) = \sum_{i=0}^n {n \choose i}
    \left( \frac{t}{T_\text{f}} - t \right)^{n-i}
    \left( \frac{t}{T_f} \right)^i

__init__(N, T=1)

Create a polynomial basis of order N.

Methods

__init__(N[, T])

Create a polynomial basis of order N.

eval_deriv(i, k, t)

Evaluate the kth derivative of the ith basis function at time t.

eval_deriv(i, k, t)

Evaluate the kth derivative of the ith basis function at time t.