Derivation Details

In the previous videos we have:

1. Stated that Jerk Minimizing Polynomials are degree 5 polynomials with 6 tunable parameters.
2. Given an overview of how to calculate the coefficients for such a polynomial given the boundary conditions $[s_i, \dot{s}_i, \ddot{s}_i]$ and $[s_f, \dot{s}_f, \ddot{s}_f]$ (or the corresponding d coordinates).