Polynome used for Z trajectory during stepover. More...

#include <Mathematics/StepOverPolynome.hh>

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

Collaboration diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

Public Member Functions
	StepOverPolynomeFoot ()

void	SetParameters (Eigen::VectorXd boundCond, std::vector< double > timeDistr)

	~StepOverPolynomeFoot ()

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::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 during stepover.

Constructor & Destructor Documentation

◆ StepOverPolynomeFoot()

StepOverPolynomeFoot::StepOverPolynomeFoot ( )

Constructor: boundCond: the different boundary conditions begin, intermediate and end of polynomial timeDistr: vector with time instants for intermediate boundary conditions and end time

◆ ~StepOverPolynomeFoot()

StepOverPolynomeFoot::~StepOverPolynomeFoot ( )

Destructor.

Member Function Documentation

◆ SetParameters()

void StepOverPolynomeFoot::SetParameters	(	Eigen::VectorXd	boundCond,
		std::vector< double >	timeDistr
	)

Set the parameters

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

src/Mathematics/StepOverPolynome.hh
src/Mathematics/StepOverPolynome.cpp