StepOverPolynome.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 _STEPOVER_POLYNOME_H_
#define _STEPOVER_POLYNOME_H_
 
#include <Eigen/Dense>
#include <Mathematics/Polynome.hh>
#include <vector>
 
namespace PatternGeneratorJRL {
class StepOverPolynomeFoot : public Polynome {
 public:
  StepOverPolynomeFoot();
 
  void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
 
  ~StepOverPolynomeFoot();
};
 
class StepOverPolynomeFootZtoX : public Polynome {
 public:
  StepOverPolynomeFootZtoX();
 
  void SetParameters(Eigen::VectorXd Zpos, std::vector<double> Xpos);
 
  ~StepOverPolynomeFootZtoX();
};
 
class StepOverPolynomeFootXtoTime : public Polynome {
 public:
  StepOverPolynomeFootXtoTime();
 
  void SetParameters(Eigen::VectorXd Xbound, std::vector<double> timedistr);
 
  ~StepOverPolynomeFootXtoTime();
};
 
class StepOverPolynomeHip4 : public Polynome {
 public:
  StepOverPolynomeHip4();
 
  // Set the parameters
  void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
 
  ~StepOverPolynomeHip4();
};
 
class StepOverSpline {
 public:
  StepOverSpline();
 
  void SetParameters(Eigen::VectorXd Points);
 
  double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
 
  void print();
 
  ~StepOverSpline();
 
 protected:
  unsigned long int m_number;
  Eigen::MatrixXd m_Coefficients;
};
 
class StepOverClampedCubicSpline {
 public:
  StepOverClampedCubicSpline();
 
  void SetParameters(Eigen::VectorXd Points, Eigen::VectorXd TimePoints,
                     Eigen::VectorXd DerivativeEndPoints);
 
  double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
 
  void print();
  ~StepOverClampedCubicSpline();
 
 protected:
  unsigned long int m_number;
  Eigen::MatrixXd m_Coefficients;
};
 
}  // namespace PatternGeneratorJRL
 
#endif /* _STEPOVER_POLYNOME_H_ */