PatternGeneratorJRL::Polynome6 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome6:

Collaboration diagram for PatternGeneratorJRL::Polynome6:

Public Member Functions
	Polynome6 (double FT, double MP, double FP=0.0)
	Constructor: FT: Final time MP: Middle position. More...
void	SetParameters (double FT, double MP, double FP=0.0)
	Set the parameters. More...
void	SetParametersWithMiddlePos (double FT, double MP, double InitPos, double InitSpeed, double InitAcc=0.0, double FP=0.0)
void	GetParametersWithInitPosInitSpeed (double &TimeInterval, double &MiddlePosition, double &FinalPosition, double &InitPosition, double &InitSpeed)
	~Polynome6 ()
	Destructor. More...
Public Member Functions inherited from PatternGeneratorJRL::PolynomeFoot
	PolynomeFoot (int degree=0.0, double FT=0.0)
double	Compute (double t)
double	ComputeDerivative (double t)
double	ComputeSecDerivative (double t)
double	ComputeJerk (double t)
Public Member Functions inherited from PatternGeneratorJRL::Polynome
	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

Additional Inherited Members
Protected Attributes inherited from PatternGeneratorJRL::PolynomeFoot
double	FT_
Protected Attributes inherited from PatternGeneratorJRL::Polynome
int	m_Degree
	Degree of the polynome. More...
std::vector< double >	m_Coefficients
	Vector of coefficients. More...

Detailed Description

Polynome used for Z trajectory.

Constructor & Destructor Documentation

Polynome6::Polynome6	(	double	FT,
		double	MP,
		double	FP = 0.0
	)

Constructor: FT: Final time MP: Middle position.

References SetParameters().

Polynome6::~Polynome6

(

)

Destructor.

Member Function Documentation

void Polynome6::GetParametersWithInitPosInitSpeed	(	double &	TimeInterval,
		double &	MiddlePosition,
		double &	FinalPosition,
		double &	InitPosition,
		double &	InitSpeed
	)

References PatternGeneratorJRL::PolynomeFoot::FT_.

void Polynome6::SetParameters	(	double	FT,
		double	MP,
		double	FP = 0.0
	)

Set the parameters.

References SetParametersWithMiddlePos().

Referenced by Polynome6().

void Polynome6::SetParametersWithMiddlePos	(	double	FT,
		double	MP,
		double	InitPos,
		double	InitSpeed,
		double	InitAcc = 0.0,
		double	FP = 0.0
	)

References PatternGeneratorJRL::PolynomeFoot::FT_, and PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by SetParameters().