Public Member Functions | List of all members
PatternGeneratorJRL::Polynome4 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome4:
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Collaboration diagram for PatternGeneratorJRL::Polynome4:
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Public Member Functions

 Polynome4 (double FT, double MP, double FP=0.0)
 
void SetParameters (double FT, double MP, double FP=0.0)
 Set the parameters. More...
 
void SetParameters (double FT, double InitPos, double InitSpeed, double InitAcc, double FinalSpeed, double FinalAcc)
 Set the parameters. More...
 
void SetParametersWithInitPosInitSpeed (double FT, double MP, double InitPos, double InitSpeed, double FP=0.0)
 
void GetParametersWithInitPosInitSpeed (double &FT, double &MP, double &FP, double &InitPos, double &InitSpeed)
 
 ~Polynome4 ()
 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

◆ Polynome4()

Polynome4::Polynome4 ( double  FT,
double  MP,
double  FP = 0.0 
)

Constructor: FT: Final time MP: Middle position

◆ ~Polynome4()

Polynome4::~Polynome4 ( )

Destructor.

Member Function Documentation

◆ GetParametersWithInitPosInitSpeed()

void Polynome4::GetParametersWithInitPosInitSpeed ( double &  FT,
double &  MP,
double &  FP,
double &  InitPos,
double &  InitSpeed 
)

Get the parameters

◆ SetParameters() [1/2]

void Polynome4::SetParameters ( double  FT,
double  InitPos,
double  InitSpeed,
double  InitAcc,
double  FinalSpeed,
double  FinalAcc 
)

Set the parameters.

◆ SetParameters() [2/2]

void PatternGeneratorJRL::Polynome4::SetParameters ( double  FT,
double  MP,
double  FP = 0.0 
)

Set the parameters.

◆ SetParametersWithInitPosInitSpeed()

void Polynome4::SetParametersWithInitPosInitSpeed ( double  FT,
double  MP,
double  InitPos,
double  InitSpeed,
double  FP = 0.0 
)

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

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