#include <Mathematics/AnalyticalZMPCOGTrajectory.hh>

Public Member Functions
	AnalyticalZMPCOGTrajectory (int lNbOfIntervals=0)

	~AnalyticalZMPCOGTrajectory ()

bool	ComputeCOM (double t, double &r)

bool	ComputeCOMSpeed (double t, double &r)

bool	ComputeCOM (double t, double &r, int i)

bool	ComputeCOMSpeed (double t, double &r, int i)

bool	ComputeCOMAcceleration (double t, double &r, int j)

bool	ComputeZMP (double t, double &r)

bool	ComputeZMPSpeed (double t, double &r)

bool	ComputeZMP (double t, double &r, int i)

Setter and Getter@{
int	m_NbOfIntervals

std::vector< double >	m_V

std::vector< double >	m_W

std::vector< double >	m_DeltaTj

std::vector< double >	m_omegaj

std::vector< double >	m_RefTime

std::vector< unsigned int >	m_PolynomialDegree

std::vector< Polynome * >	m_ListOfCOGPolynomials

std::vector< Polynome * >	m_ListOfZMPPolynomials

double	m_AbsoluteTimeReference

double	m_Sensitivity

void	SetNumberOfIntervals (unsigned int lNbOfIntervals)
	Set the number of Intervals for this trajectory. More...

void	SetCoGHyperbolicCoefficients (std::vector< double > &lV, std::vector< double > &lW)
	Set the coefficients for the sinuse and cosinues function. More...

void	SetStartingTimeIntervalsAndHeightVariation (std::vector< double > &lDeltaTj, std::vector< double > &lomegaj)
	Set the starting point and the height variation. More...

void	SetPolynomialDegrees (std::vector< unsigned int > &lPolynomialDegree)
	Set the degree of each polynomials for the CoG Remark: the size of the vector of degrees should match the number of intervals. More...

void	GetPolynomialDegrees (std::vector< unsigned int > &lPolynomialDegree) const
	Get the degree of each polynomials for the CoG. More...

void	GetNumberOfIntervals (unsigned int &lNbOfIntervals) const
	Set the number of Intervals for this trajectory. More...

void	GetHyperbolicCoefficients (std::vector< double > &lV, std::vector< double > &lW) const
	Get the coefficients for the sinuse and cosinues function. More...

void	GetStartingPointAndHeightVariation (std::vector< double > &lTj, std::vector< double > &lomegaj)
	Get the starting point and the height variation. More...

bool	GetFromListOfCOGPolynomials (unsigned int j, Polynome *&aPoly) const
	Get the polynomial at interval j for the CoG Remark: The call to this function assume that the method SetPolynomialDegree has been call beforehand. More...

bool	GetFromListOfZMPPolynomials (unsigned int j, Polynome *&aPoly) const

void	TransfertCoefficientsFromCOGTrajectoryToZMPOne (std::vector< double > &lCOMZ, std::vector< double > &lZMPZ)
	Transfert the coefficients from the COG trajectory to the ZMP for all intervals. More...

void	TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne (unsigned int IntervalIndex, double &lCOMZ, double &lZMPZ)
	Transfert the coefficients from the COG trajectory to the ZMP. More...

void	Building3rdOrderPolynomial (unsigned int anIntervalj, double pjTjm1, double pjTj)

double	FluctuationMaximal ()
	Returns the maximal fluctuation for the first segment of this trajectory. More...

double	GetAbsoluteTimeReference () const
	Absolute Time reference of this trajectory. More...

void	SetAbsoluteTimeReference (double anAbsoluteTimeReference)
	Set Absolute time reference of this trajectory. More...

bool	GetIntervalIndexFromTime (double t, unsigned int &j)
	Get the index of the interval according to the time. More...

bool	GetIntervalIndexFromTime (double t, unsigned int &j, unsigned int &prev_j)
	Get the index of the interval according to the time, and the previous value of the interval. More...

std::ostream &	operator<< (std::ostream &os, const AnalyticalZMPCOGTrajectory &obj)

void	FreePolynomes ()

Detailed Description

AnalyticalZMPCOGTrajectory represents the ZMP and the COG trajectories based on the following formula:

Constructor & Destructor Documentation

◆ AnalyticalZMPCOGTrajectory()

PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::AnalyticalZMPCOGTrajectory ( int lNbOfIntervals = 0 )

Constructor

◆ ~AnalyticalZMPCOGTrajectory()

PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::~AnalyticalZMPCOGTrajectory ( )

Destructor

Member Function Documentation

◆ Building3rdOrderPolynomial()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::Building3rdOrderPolynomial	(	unsigned int	anIntervalj,
		double	pjTjm1,
		double	pjTj
	)

Build the coefficients of a third order COG polynomial according to the OmegaC and the value of the ZMP at the beginning and the end of the interval, and assuming that the speed is set to zero.

◆ ComputeCOM() [1/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM	(	double	t,
		double &	r
	)

Compute the current value according to time.

Parameters

t	the time,
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeCOM() [2/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM	(	double	t,
		double &	r,
		int	i
	)

Compute the current value according to time and the index of the interval. To be efficient this method does not have any boundary check.

Parameters

t	the time,
i	the numero of the interval
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeCOMAcceleration()

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMAcceleration	(	double	t,
		double &	r,
		int	j
	)

Compute the current acceleration according to time and the index of the interval. To be efficient this method does not have any boundary check.

Parameters

t	the time,
i	the numero of the interval
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeCOMSpeed() [1/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed	(	double	t,
		double &	r
	)

Compute the current CoM speed value according to time.

Parameters

t	the time,
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeCOMSpeed() [2/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed	(	double	t,
		double &	r,
		int	i
	)

Compute the current speed according to time and the index of the interval. To be efficient this method does not have any boundary check.

Parameters

t	the time,
i	the numero of the interval
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeZMP() [1/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP	(	double	t,
		double &	r
	)

Compute the current value according to time.

Parameters

t	the time,
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeZMP() [2/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP	(	double	t,
		double &	r,
		int	i
	)

Compute the current value according to time.

Parameters

t	the time,
i	the numero of the interval
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ ComputeZMPSpeed()

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMPSpeed	(	double	t,
		double &	r
	)

Compute the current ZMP speed value according to time.

Parameters

t	the time,
r	the result,

Returns: Returns true if the function has been computed, false otherwise.

◆ FluctuationMaximal()

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FluctuationMaximal ( )

Returns the maximal fluctuation for the first segment of this trajectory.

◆ FreePolynomes()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FreePolynomes ( )

protected

Intern method to free the polynomials

◆ GetAbsoluteTimeReference()

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetAbsoluteTimeReference ( ) const

inline

Absolute Time reference of this trajectory.

◆ GetFromListOfCOGPolynomials()

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfCOGPolynomials	(	unsigned int	j,
		Polynome *&	aPoly
	)		const

Get the polynomial at interval j for the CoG Remark: The call to this function assume that the method SetPolynomialDegree has been call beforehand.

◆ GetFromListOfZMPPolynomials()

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials	(	unsigned int	j,
		Polynome *&	aPoly
	)		const

Get the polynomial at interval j for the ZMP Remark: The call to this function assume that the method SetPolynomialDegree has been call beforehand.

◆ GetHyperbolicCoefficients()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetHyperbolicCoefficients	(	std::vector< double > &	lV,
		std::vector< double > &	lW
	)		const

Get the coefficients for the sinuse and cosinues function.

◆ GetIntervalIndexFromTime() [1/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime	(	double	t,
		unsigned int &	j
	)

Get the index of the interval according to the time.

◆ GetIntervalIndexFromTime() [2/2]

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime	(	double	t,
		unsigned int &	j,
		unsigned int &	prev_j
	)

Get the index of the interval according to the time, and the previous value of the interval.

◆ GetNumberOfIntervals()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetNumberOfIntervals ( unsigned int & lNbOfIntervals ) const

Set the number of Intervals for this trajectory.

◆ GetPolynomialDegrees()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetPolynomialDegrees ( std::vector< unsigned int > & lPolynomialDegree ) const

Get the degree of each polynomials for the CoG.

◆ GetStartingPointAndHeightVariation()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetStartingPointAndHeightVariation	(	std::vector< double > &	lTj,
		std::vector< double > &	lomegaj
	)

Get the starting point and the height variation.

◆ SetAbsoluteTimeReference()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetAbsoluteTimeReference ( double anAbsoluteTimeReference )

inline

Set Absolute time reference of this trajectory.

◆ SetCoGHyperbolicCoefficients()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetCoGHyperbolicCoefficients	(	std::vector< double > &	lV,
		std::vector< double > &	lW
	)

Set the coefficients for the sinuse and cosinues function.

◆ SetNumberOfIntervals()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals ( unsigned int lNbOfIntervals )

Set the number of Intervals for this trajectory.

◆ SetPolynomialDegrees()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetPolynomialDegrees ( std::vector< unsigned int > & lPolynomialDegree )

Set the degree of each polynomials for the CoG Remark: the size of the vector of degrees should match the number of intervals.

◆ SetStartingTimeIntervalsAndHeightVariation()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetStartingTimeIntervalsAndHeightVariation	(	std::vector< double > &	lDeltaTj,
		std::vector< double > &	lomegaj
	)

Set the starting point and the height variation.

◆ TransfertCoefficientsFromCOGTrajectoryToZMPOne()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertCoefficientsFromCOGTrajectoryToZMPOne	(	std::vector< double > &	lCOMZ,
		std::vector< double > &	lZMPZ
	)

Transfert the coefficients from the COG trajectory to the ZMP for all intervals.

Parameters

lCOMZ	Profile of the height CoM for each interval.
lZMPZ	Profile of the height ZMP for each interval.

◆ TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne()

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne	(	unsigned int	IntervalIndex,
		double &	lCOMZ,
		double &	lZMPZ
	)

Transfert the coefficients from the COG trajectory to the ZMP.

Parameters

IntervalIndex	Number of the interval.
lCOMZ	Value of the CoM height for this interval.
lZMPZ	Value of the ZMP height for this interval.

Friends And Related Function Documentation

◆ operator<<

std::ostream& operator<<	(	std::ostream &	os,
		const AnalyticalZMPCOGTrajectory &	obj
	)

friend

Member Data Documentation

◆ m_AbsoluteTimeReference

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_AbsoluteTimeReference

protected

Store the absolute time reference

◆ m_DeltaTj

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_DeltaTj

protected

List of temporal starting point.

◆ m_ListOfCOGPolynomials

std::vector<Polynome *> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfCOGPolynomials

protected

List of polynomials for the COG

◆ m_ListOfZMPPolynomials

std::vector<Polynome *> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfZMPPolynomials

protected

List of polynomials for the ZMP

◆ m_NbOfIntervals

int PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_NbOfIntervals

protected

Number of intervals

◆ m_omegaj

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_omegaj

protected

List of omega, i.e. height variation along the trajectory.

◆ m_PolynomialDegree

std::vector<unsigned int> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_PolynomialDegree

protected

List of polynomial degrees for the CoM

◆ m_RefTime

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_RefTime

protected

List of reference time for the interval.

◆ m_Sensitivity

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_Sensitivity

protected

◆ m_V

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_V

protected

List of coefficients for the hyperbolics cosine function

◆ m_W

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_W

protected

List of coefficients for the hyperbolics sine function

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

src/Mathematics/AnalyticalZMPCOGTrajectory.hh
src/Mathematics/AnalyticalZMPCOGTrajectory.cpp

Public Member Functions

Setter and Getter@{

Detailed Description

Constructor & Destructor Documentation

◆ AnalyticalZMPCOGTrajectory()

◆ ~AnalyticalZMPCOGTrajectory()

Member Function Documentation

◆ Building3rdOrderPolynomial()

◆ ComputeCOM() [1/2]

◆ ComputeCOM() [2/2]

◆ ComputeCOMAcceleration()

◆ ComputeCOMSpeed() [1/2]

◆ ComputeCOMSpeed() [2/2]

◆ ComputeZMP() [1/2]

◆ ComputeZMP() [2/2]

◆ ComputeZMPSpeed()

◆ FluctuationMaximal()

◆ FreePolynomes()

◆ GetAbsoluteTimeReference()

◆ GetFromListOfCOGPolynomials()

◆ GetFromListOfZMPPolynomials()

◆ GetHyperbolicCoefficients()

◆ GetIntervalIndexFromTime() [1/2]

◆ GetIntervalIndexFromTime() [2/2]

◆ GetNumberOfIntervals()

◆ GetPolynomialDegrees()

◆ GetStartingPointAndHeightVariation()

◆ SetAbsoluteTimeReference()

◆ SetCoGHyperbolicCoefficients()

◆ SetNumberOfIntervals()

◆ SetPolynomialDegrees()

◆ SetStartingTimeIntervalsAndHeightVariation()

◆ TransfertCoefficientsFromCOGTrajectoryToZMPOne()

◆ TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne()

Friends And Related Function Documentation

◆ operator<<

Member Data Documentation

◆ m_AbsoluteTimeReference

◆ m_DeltaTj

◆ m_ListOfCOGPolynomials

◆ m_ListOfZMPPolynomials

◆ m_NbOfIntervals

◆ m_omegaj

◆ m_PolynomialDegree

◆ m_RefTime

◆ m_Sensitivity

◆ m_V

◆ m_W