Polynome.hh

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/*
 * Copyright 2006, 2007, 2008, 2009, 2010,
 *
 * Florent    Lamiraux
 * Alireza    Nakhaei
 * 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_H_
#define _POLYNOME_H_
 
#include <iostream>
#include <vector>
 
using namespace ::std;
 
namespace PatternGeneratorJRL {
 
class Polynome {
 public:
  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);
 
  inline int Degree() { return m_Degree; };
 
  void print() const;
 
 protected:
  int m_Degree;
 
  std::vector<double> m_Coefficients;
};
}  // namespace PatternGeneratorJRL
#endif /* _POLYNOME_H_*/