PatternGeneratorJRL::Polynome5 Class Reference

Polynome used for X,Y and Theta trajectories. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome5:

Collaboration diagram for PatternGeneratorJRL::Polynome5:

Public Member Functions
	Polynome5 (double FT, double FP)
void	SetParameters (double FT, double FP)
	Set the parameters. More...
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)
	Set parameters considering initial position, velocity, acceleration. More...
void	SetParameters (double FT, double InitPos, double InitSpeed, double InitAcc, double FinalPos, double FinalSpeed, double FinalAcc)
	Set parameters considering initial position, velocity, acceleration, and final poistion, velocity and acceleration. More...
	~Polynome5 ()
	Destructor. More...
Public Member Functions inherited from PatternGeneratorJRL::PolynomeFoot
	PolynomeFoot (int degree=0.0, double FT=0.0)
double	Compute (double t)
double	ComputeDerivative (double t)
double	ComputeSecDerivative (double t)
double	ComputeJerk (double t)
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::PolynomeFoot
double	FT_
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 X,Y and Theta trajectories.

Constructor & Destructor Documentation

Polynome5()

Polynome5::Polynome5	(	double	FT,
		double	FP
	)

Constructor: FT: Final time FP: Final position

~Polynome5()

Polynome5::~Polynome5

(

)

Destructor.

Member Function Documentation

GetParametersWithInitPosInitSpeed()

void Polynome5::GetParametersWithInitPosInitSpeed	(	double &	FT,
		double &	FP,
		double &	InitPos,
		double &	InitSpeed
	)

Set the parameters such that the initial position, and initial speed are different from zero.

SetParameters() [1/3]

void Polynome5::SetParameters	(	double	FT,
		double	FP
	)

Set the parameters.

SetParameters() [2/3]

void PatternGeneratorJRL::Polynome5::SetParameters	(	double	FT,
		double	FP,
		double	InitPos,
		double	InitSpeed,
		double	InitAcc,
		double	InitJerk = 0.0
	)

Set parameters considering initial position, velocity, acceleration.

SetParameters() [3/3]

void Polynome5::SetParameters	(	double	FT,
		double	InitPos,
		double	InitSpeed,
		double	InitAcc,
		double	FinalPos,
		double	FinalSpeed,
		double	FinalAcc
	)

Set parameters considering initial position, velocity, acceleration, and final poistion, velocity and acceleration.

SetParametersWithInitPosInitSpeed()

void Polynome5::SetParametersWithInitPosInitSpeed	(	double	FT,
		double	FP,
		double	InitPos,
		double	InitSpeed
	)

Set the parameters such that the initial position, and initial speed are different from zero.

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

• src/Mathematics/PolynomeFoot.hh
• src/Mathematics/PolynomeFoot.cpp