PolynomeFoot.hh

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/*
 * Copyright 2006, 2007, 2008, 2009, 2010,
 *
 * Andrei     Herdt
 * Florent    Lamiraux
 * Mathieu    Poirier
 * Olivier    Stasse
 *
 * JRL, CNRS/AIST
 *
 * This file is part of walkGenJrl.
 * walkGenJrl is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * walkGenJrl is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Lesser Public License for more details.
 * You should have received a copy of the GNU Lesser General Public License
 * along with walkGenJrl.  If not, see <http://www.gnu.org/licenses/>.
 *
 *  Research carried out within the scope of the
 *  Joint Japanese-French Robotics Laboratory (JRL)
 */
#ifndef _POLYNOME_FOOT_H_
#define _POLYNOME_FOOT_H_
 
#ifdef max
#undef max
#undef min
#endif
 
#include <Mathematics/Polynome.hh>
#include <vector>
 
namespace PatternGeneratorJRL {
class PolynomeFoot : public Polynome {
 protected:
  double FT_;
 
 public:
  PolynomeFoot(int degree = 0.0, double FT = 0.0) : Polynome(degree), FT_(FT){};
 
  double Compute(double t);
 
  double ComputeDerivative(double t);
 
  double ComputeSecDerivative(double t);
 
  double ComputeJerk(double t);
};
 
class Polynome3 : public PolynomeFoot {
 public:
  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();
 
 private:
  double FP_;
};
 
class Polynome4 : public PolynomeFoot {
 public:
  Polynome4(double FT, double MP, double FP = 0.0);
 
  // Initial velocity and position are 0
  // Final velocity and position are 0
  void SetParameters(double FT, double MP, double FP = 0.0);
 
  // time horizon
  // Initial Position
  // Initial velocity (IS)
  // Initial Acceleration
  // Final velocity
  // Final Acceleration
  void SetParameters(double FT, double InitPos, double InitSpeed,
                     double InitAcc, double FinalSpeed, double FinalAcc);
 
  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();
 
 private:
  double MP_;
  double FP_;
};
 
class Polynome5 : public PolynomeFoot {
 private:
  double InitPos_, InitSpeed_, InitAcc_, FinalPos_, FinalSpeed_, FinalAcc_;
 
 public:
  Polynome5(double FT, double FP);
 
  void SetParameters(double FT, double FP);
 
  void SetParametersWithInitPosInitSpeed(double FT, double FP, double InitPos,
                                         double InitSpeed);
  void GetParametersWithInitPosInitSpeed(double &FT, double &FP,
                                         double &InitPos, double &InitSpeed);
 
  void SetParameters(double FT, double FP, double InitPos, double InitSpeed,
                     double InitAcc, double InitJerk = 0.0);
 
  void SetParameters(double FT, double InitPos, double InitSpeed,
                     double InitAcc, double FinalPos, double FinalSpeed,
                     double FinalAcc);
 
  ~Polynome5();
};
 
class Polynome6 : public PolynomeFoot {
 private:
  double MP_, FP_, InitPos_, InitSpeed_, InitAcc_;
 
 public:
  Polynome6(double FT, double MP, double FP = 0.0);
 
  // Initial acceleration, velocity and position by default 0
  // Final acceleration, velocity and position are 0
  void SetParameters(double FT, double MP, double FP = 0.0);
  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();
};
 
class Polynome7 : public PolynomeFoot {
 private:
  double FP_, InitPos_, InitSpeed_, InitAcc_, InitJerk_;
 
 public:
  Polynome7(double FT, double FP);
 
  void SetParameters(double FT, double FP);
 
  void SetParametersWithInitPosInitSpeed(double FT, double FP, double InitPos,
                                         double InitSpeed);
 
  void SetParameters(double FT, double FP, double InitPos, double InitSpeed,
                     double InitAcc, double InitJerk = 0.0);
 
  void GetParametersWithInitPosInitSpeed(double &FT, double &FP,
                                         double &InitPos, double &InitSpeed);
 
  ~Polynome7();
};
 
}  // namespace PatternGeneratorJRL
#endif /* _POLYNOME_FOOT_H_ */