PatternGeneratorJRL::BSplinesFoot Class Reference

Bsplines used for Z trajectory of stair steps. More...

#include <Mathematics/Bsplines.hh>

Inheritance diagram for PatternGeneratorJRL::BSplinesFoot:

Collaboration diagram for PatternGeneratorJRL::BSplinesFoot:

Public Member Functions
	BSplinesFoot (double FT=1.0, double IP=0.0, double FP=0.0, std::vector< double >ToMP=std::vector< double >(), std::vector< double > MP=std::vector< double >(), double IS=0.0, double IA=0.0, double FS=0.0, double FA=0.0)
	Constructor: FT: Final time FP: Final position ToMP : Time of Max Position MP : Max Position. More...
	~BSplinesFoot ()
	Detructor. More...
void	SetParameters (double FT, double IP, double FP, std::vector< double >ToMP, std::vector< double > MP, double IS=0.0, double IA=0.0, double FS=0.0, double FA=0.0)
void	SetParametersWithoutMPAndToMP (double FT, double IP, double FP, double IS, double IA, double FS, double FA)
int	Compute (double t, double &x, double &dx, double &ddx)
void	ComputeControlPointFrom2DataPoint ()
void	ComputeControlPointFrom3DataPoint ()
void	ComputeControlPointFrom4DataPoint ()
void	GetParameters (double &FT, double &IP, double &FP, std::vector< double > &ToMP, std::vector< double > &MP)
std::vector< double >	MP ()
std::vector< double >	ToMP ()
double	FT ()
void	FT (double ft)
double	IP ()
double	FP ()
void	SetParametersWithInitFinalPose (double FT, double IP, double FP, std::vector< double > &ToMP, std::vector< double > &MP)
Public Member Functions inherited from PatternGeneratorJRL::Bsplines
	Bsplines (long int degree)
	~Bsplines ()
void	GenerateDegree ()
Bsplines	DerivativeBsplines ()
int	ComputeBasisFunctions (double t)
int	ComputeBasisFunctionsRecursively (double t, std::deque< double > &knot, unsigned int degree)
double	Nij_t (int i, int j, double t, std::deque< double > &knot)
double	ComputeBsplines (double t)
void	SetDegree (long int degree)
void	SetControlPoints (std::vector< double > &control_points)
void	SetKnotVector (std::deque< double > &knot_vector)
long int	GetDegree () const
std::vector< double >	GetControlPoints () const
std::deque< double >	GetKnotVector () const
void	PrintKnotVector () const
void	PrintControlPoints () const
void	PrintDegree () const

Additional Inherited Members
Protected Attributes inherited from PatternGeneratorJRL::Bsplines
long int	m_degree
std::vector< double >	m_control_points
std::vector< double >	m_derivative_control_points
std::vector< double >	m_sec_derivative_control_points
std::vector< std::vector< double > >	m_basis_functions
std::vector< double >	m_basis_functions_derivative
std::vector< double >	m_basis_functions_sec_derivative
std::deque< double >	m_knot

Detailed Description

Bsplines used for Z trajectory of stair steps.

Constructor & Destructor Documentation

BSplinesFoot::BSplinesFoot	(	double	FT = 1.0,
		double	IP = 0.0,
		double	FP = 0.0,
		std::vector< double >	ToMP = std::vector<double>(),
		std::vector< double >	MP = std::vector<double>(),
		double	IS = 0.0,
		double	IA = 0.0,
		double	FS = 0.0,
		double	FA = 0.0
	)

Constructor: FT: Final time FP: Final position ToMP : Time of Max Position MP : Max Position.

References SetParameters().

BSplinesFoot::~BSplinesFoot

(

)

Detructor.

Member Function Documentation

int BSplinesFoot::Compute	(	double	t,
		double &	x,
		double &	dx,
		double &	ddx
	)

Compute Position at time t

References PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), i, PatternGeneratorJRL::Bsplines::m_basis_functions, PatternGeneratorJRL::Bsplines::m_basis_functions_derivative, PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative, PatternGeneratorJRL::Bsplines::m_control_points, and PatternGeneratorJRL::Bsplines::m_degree.

void BSplinesFoot::ComputeControlPointFrom2DataPoint

(

void

)

Compute the control point position for an order 5 Bsplines. It also computes the control point of the derivative and the second derivatice of the BSplines.

References PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), FP(), IP(), PatternGeneratorJRL::Bsplines::m_basis_functions_derivative, PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative, PatternGeneratorJRL::Bsplines::m_control_points, and return.

Referenced by SetParameters().

void BSplinesFoot::ComputeControlPointFrom3DataPoint

(

void

)

References PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), FP(), IP(), PatternGeneratorJRL::Bsplines::m_basis_functions, PatternGeneratorJRL::Bsplines::m_basis_functions_derivative, PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative, PatternGeneratorJRL::Bsplines::m_control_points, PatternGeneratorJRL::Bsplines::m_degree, and return.

Referenced by SetParameters().

void BSplinesFoot::ComputeControlPointFrom4DataPoint

(

void

)

References PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), FP(), IP(), PatternGeneratorJRL::Bsplines::m_basis_functions, PatternGeneratorJRL::Bsplines::m_basis_functions_derivative, PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative, PatternGeneratorJRL::Bsplines::m_control_points, PatternGeneratorJRL::Bsplines::m_degree, and return.

Referenced by SetParameters().

double PatternGeneratorJRL::BSplinesFoot::FP ( )

inline

Referenced by ComputeControlPointFrom2DataPoint(), ComputeControlPointFrom3DataPoint(), ComputeControlPointFrom4DataPoint(), SetParameters(), SetParametersWithInitFinalPose(), and SetParametersWithoutMPAndToMP().

double PatternGeneratorJRL::BSplinesFoot::FT ( )

inline

Referenced by SetParameters(), SetParametersWithInitFinalPose(), and SetParametersWithoutMPAndToMP().

void PatternGeneratorJRL::BSplinesFoot::FT ( double  ft )

inline

void BSplinesFoot::GetParameters	(	double &	FT,
		double &	IP,
		double &	FP,
		std::vector< double > &	ToMP,
		std::vector< double > &	MP
	)

double PatternGeneratorJRL::BSplinesFoot::IP ( )

inline

Referenced by ComputeControlPointFrom2DataPoint(), ComputeControlPointFrom3DataPoint(), ComputeControlPointFrom4DataPoint(), SetParameters(), SetParametersWithInitFinalPose(), and SetParametersWithoutMPAndToMP().

std::vector<double> PatternGeneratorJRL::BSplinesFoot::MP ( )

inline

Referenced by SetParameters(), and SetParametersWithInitFinalPose().

void BSplinesFoot::SetParameters	(	double	FT,
		double	IP,
		double	FP,
		std::vector< double >	ToMP,
		std::vector< double >	MP,
		double	IS = 0.0,
		double	IA = 0.0,
		double	FS = 0.0,
		double	FA = 0.0
	)

Set the parameters This method assumes implicitly a initial position initial speed and initial acceleration equal to zero. The same for final speed and final acceleration. Speed at Max Position is around zero. It generates knot vector and control point vector according to the input

References ComputeControlPointFrom2DataPoint(), ComputeControlPointFrom3DataPoint(), ComputeControlPointFrom4DataPoint(), FP(), FT(), i, IP(), PatternGeneratorJRL::Bsplines::m_control_points, PatternGeneratorJRL::Bsplines::m_degree, MP(), return, PatternGeneratorJRL::Bsplines::SetKnotVector(), and ToMP().

Referenced by BSplinesFoot().

void BSplinesFoot::SetParametersWithInitFinalPose	(	double	FT,
		double	IP,
		double	FP,
		std::vector< double > &	ToMP,
		std::vector< double > &	MP
	)

References FP(), FT(), i, IP(), PatternGeneratorJRL::Bsplines::m_degree, MP(), return, PatternGeneratorJRL::Bsplines::SetControlPoints(), PatternGeneratorJRL::Bsplines::SetKnotVector(), and ToMP().

void BSplinesFoot::SetParametersWithoutMPAndToMP	(	double	FT,
		double	IP,
		double	FP,
		double	IS,
		double	IA,
		double	FS,
		double	FA
	)

References FP(), FT(), and IP().

std::vector<double> PatternGeneratorJRL::BSplinesFoot::ToMP ( )

inline

Referenced by SetParameters(), and SetParametersWithInitFinalPose().