C++ for engines

Discrete Time Form for Parabolic Profiles:

PT = PT + VT +1/2AT - 1/6J
VT = VT+AT - 1/2JT
AT = AT- JT

where:

P0, V0, and A0 are the starting position, velocity, and accelerations
PT , VT, and AT are the position, velocity, and acceleration at time T
J is the jerk (time rate of change of acceleration)