control.flatsys.BezierFamily

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

Bases: control.flatsys.basis.BasisFamily

Bezier curve 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

Methods

eval_deriv

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

__call__(i, t)

Evaluate the ith basis function at a point in time

eval_deriv(i, k, t)

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