PatternGeneratorJRL::Polynome Class Reference

Class for computing trajectories. More...

#include <Mathematics/Polynome.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome:

Collaboration diagram for PatternGeneratorJRL::Polynome:

Public Member Functions
	Polynome (int Degree)
	~Polynome ()
double	Compute (double t)
double	ComputeDerivative (double t)
double	ComputeSecDerivative (double t)
double	ComputeJerk (double t)
void	GetCoefficients (std::vector< double > &lCoefficients) const
void	SetCoefficients (const std::vector< double > &lCoefficients)
int	Degree ()
void	print () const

Protected Attributes
int	m_Degree
	Degree of the polynome. More...
std::vector< double >	m_Coefficients
	Vector of coefficients. More...

Detailed Description

Class for computing trajectories.

Constructor & Destructor Documentation

Polynome::Polynome

(

int

Degree

)

Constructor

Polynome::~Polynome

(

)

Destructor

Member Function Documentation

double Polynome::Compute

(

double

t

)

Compute the value.

References i.

double Polynome::ComputeDerivative

(

double

t

)

Compute the value of the derivative.

References i.

double Polynome::ComputeJerk

(

double

t

)

Compute the value of the third derivative (jerk).

References i.

double Polynome::ComputeSecDerivative

(

double

t

)

Compute the value of the second derivative.

References i.

int PatternGeneratorJRL::Polynome::Degree ( )

inline

References m_Degree, and print().

void Polynome::GetCoefficients

(

std::vector< double > &

lCoefficients

)

const

Get the coefficients.

Referenced by PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne().

void Polynome::print

(

)

const

Print the coefficient.

References i.

Referenced by Degree().

void Polynome::SetCoefficients

(

const std::vector< double > &

lCoefficients

)

Set the coefficients.

Member Data Documentation

std::vector<double> PatternGeneratorJRL::Polynome::m_Coefficients

protected

Vector of coefficients.

Referenced by PatternGeneratorJRL::Polynome3::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome4::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome5::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome7::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::StepOverSpline::GetValueSpline(), PatternGeneratorJRL::StepOverClampedCubicSpline::GetValueSpline(), PatternGeneratorJRL::StepOverSpline::print(), PatternGeneratorJRL::StepOverClampedCubicSpline::print(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::Polynome3::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::StepOverSpline::SetParameters(), PatternGeneratorJRL::Polynome4::SetParameters(), PatternGeneratorJRL::StepOverClampedCubicSpline::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome3::SetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome4::SetParametersWithInitPosInitSpeed(), and PatternGeneratorJRL::Polynome6::SetParametersWithMiddlePos().

int PatternGeneratorJRL::Polynome::m_Degree

protected

Degree of the polynome.

Referenced by Degree().