其中:
B_0(t) = (1-t)^5 = -t^5 + 5t^4 - 10t^3 + 10t^2 - 5t + 1
B_1(t) = 5(1-t)^4 * t = 5t^5 - 20t^4 + 30t^3 - 20t^2 + 5t
B_2(t) = 10(1-t)^3 * t^2 = -10t^5 + 30t^4 - 30t^3 + 10t^2
B_3(t) = 10(1-t)^2 * t^3 = 10t^5 - 20t^4 + 10t^3
B_4(t) = 5(1-t) * t^4 = -5t^5 + 5t^4
B_5(t) = t^5 = t^5
V(t)可以改写为:
V(t) = A*t^5 + B*t^4 + C*t^3 + D*t^2 + E*t + F
其中:
A = -P_0 + 5*P_1 - 10*P_2 + 10*P_3 - 5*P_4 + P_5
B = 5*P_0 - 20*P_1 + 30*P_2 - 20*P_3 + 5*P_4
C = -10*P_0 + 30*P_1 - 30*P_2 + 10*P_3
D = 10*P_0 - 20*P_1 + 10*P_2
E = - 5*P_0 + 5*P_1
F = P_0
我们希望初始加速度和初始jerk都为0,因此我们设置P_