Public Member Functions | List of all members
PatternGeneratorJRL::Polynome6 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome6:
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Collaboration diagram for PatternGeneratorJRL::Polynome6:
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Public Member Functions

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

Constructor: FT: Final time MP: Middle position

◆ ~Polynome6()

Polynome6::~Polynome6 ( )

Destructor.

Member Function Documentation

◆ GetParametersWithInitPosInitSpeed()

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

◆ SetParameters()

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

Set the parameters.

◆ SetParametersWithMiddlePos()

void Polynome6::SetParametersWithMiddlePos ( double  FT,
double  MP,
double  InitPos,
double  InitSpeed,
double  InitAcc = 0.0,
double  FP = 0.0 
)
The documentation for this class was generated from the following files: