hpp::walkgen::PiecewisePoly3 Class Reference

Polynomial function of degree 3 restricted to an interval. More...

#include <hpp/walkgen/bspline-based.hh>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const Polynomial3 &polynomial)
	Constructor. More...
	PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const value_type &v0, const value_type &v1)
	Constructor for affine function. More...
	PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const vector7_t &values)
	Constructor with 7 values. More...
	PiecewisePoly3 ()
	Empty constructor set all fields to Nan. More...
const value_type &	operator[] (const size_type &index) const
	Get value at equally spaced parameter. More...

Public Attributes
value_type	lower
value_type	upper

Detailed Description

Polynomial function of degree 3 restricted to an interval.

Represented by the values of the function taken at 7 equally spaced parameter values containing the boundaries of the interval of definition.

Constructor & Destructor Documentation

EIGEN_MAKE_ALIGNED_OPERATOR_NEW hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type &  tmin, const value_type &  tmax, const Polynomial3 &  polynomial  )

inline

Constructor.

Parameters

tmin,tmax,interval	of definition
polynomial	polynomial of degree 3 defining the spline basis function.

References lower, and upper.

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type &  tmin, const value_type &  tmax, const value_type &  v0, const value_type &  v1  )

inline

Constructor for affine function.

Parameters

tmin,tmax,interval	of definition
v0,v1	values at tmin and tmax respectively.

References lower, and upper.

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type &  tmin, const value_type &  tmax, const vector7_t &  values  )

inline

Constructor with 7 values.

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( )

inline

Empty constructor set all fields to Nan.

Member Function Documentation

const value_type& hpp::walkgen::PiecewisePoly3::operator[] ( const size_type &  index ) const

inline

Get value at equally spaced parameter.

Parameters

index

index of the parameter between 0 and 6.

Member Data Documentation

value_type hpp::walkgen::PiecewisePoly3::lower

Referenced by hpp::walkgen::SplineBased::integral(), PiecewisePoly3(), and hpp::walkgen::SplineBased::zmpRefy().

value_type hpp::walkgen::PiecewisePoly3::upper

Referenced by hpp::walkgen::SplineBased::integral(), PiecewisePoly3(), and hpp::walkgen::SplineBased::zmpRefy().