Public Member Functions | List of all members
PatternGeneratorJRL::Polynome3 Class Reference

Polynome used for X,Y and Theta trajectories. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome3:
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Collaboration diagram for PatternGeneratorJRL::Polynome3:
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Public Member Functions

 Polynome3 (double FT, double FP)
 
 Polynome3 (double FT, double IP, double IS, double FP, double FS)
 
void SetParameters (double FT, double FP)
 
void SetParameters (double FT, double IP, double IS, double FP, double FS)
 
void SetParametersWithInitPosInitSpeed (double FT, double FP, double InitPos, double InitSpeed)
 
void GetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed)
 
 ~Polynome3 ()
 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 X,Y and Theta trajectories.

Constructor & Destructor Documentation

◆ Polynome3() [1/2]

Polynome3::Polynome3 ( double  FT,
double  FP 
)

Constructor: FT: Final time FP: Final position

◆ Polynome3() [2/2]

Polynome3::Polynome3 ( double  FT,
double  IP,
double  IS,
double  FP,
double  FS 
)

Additionnal Constructor:

◆ ~Polynome3()

Polynome3::~Polynome3 ( )

Destructor.

Member Function Documentation

◆ GetParametersWithInitPosInitSpeed()

void Polynome3::GetParametersWithInitPosInitSpeed ( double &  FT,
double &  FP,
double &  InitPos,
double &  InitSpeed 
)

◆ SetParameters() [1/2]

void Polynome3::SetParameters ( double  FT,
double  FP 
)

Set the parameters This method assumes implicitly a position set to zero, and a speed equals to zero. Final velocity is 0

◆ SetParameters() [2/2]

void Polynome3::SetParameters ( double  FT,
double  IP,
double  IS,
double  FP,
double  FS 
)

Set the parameters

◆ SetParametersWithInitPosInitSpeed()

void Polynome3::SetParametersWithInitPosInitSpeed ( double  FT,
double  FP,
double  InitPos,
double  InitSpeed 
)

Set the parameters such that the initial position, and initial speed are different from zero. Final velocity is 0

The documentation for this class was generated from the following files: