function [c1 c2 c3 c4 v1 a1] = pt(x0,x1,t0,t1, v0,a0)
%PVT Summary of this function goes here
%   Detailed explanation goes here

A= [t0^3, t0^2, t0,  1,0,0; ...
    t1^3, t1^2, t1,  1,0,0; ...
    3*t0^2, 2*t0, 1, 0,0,0; ...
    3*t1^2, 2*t1, 1, 0,-1,0; ...
    6*t0, 2,  0,   0,0,0; ...
    6*t1  , 2,  0,   0,0,-1];
    
b = [x0;x1;v0;0;a0;0] ;

x= A\b;

c1=x(1);
c2=x(2);
c3=x(3);
c4=x(4);
v1=x(5);
a1=x(6);


end