PatternGeneratorJRL::Polynome4 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome4:
Collaboration diagram for PatternGeneratorJRL::Polynome4:

Public Member Functions

 Polynome4 (double FT, double MP)
 Constructor: FT: Final time MP: Middle position. More...
 
void SetParameters (double FT, double MP)
 Set the parameters. More...
 
void SetParametersWithInitPosInitSpeed (double FT, double MP, double InitPos, double InitSpeed)
 
void GetParametersWithInitPosInitSpeed (double &FT, double &MP, double &InitPos, double &InitSpeed)
 
 ~Polynome4 ()
 Destructor. More...
 
- Public Member Functions inherited from PatternGeneratorJRL::Polynome
 Polynome (int Degree)
 
 ~Polynome ()
 
double Compute (double t)
 
double ComputeDerivative (double t)
 
double ComputeSecDerivative (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::Polynome
int m_Degree
 Degree of the polynome. More...
 
std::vector< double > m_Coefficients
 Vector of coefficients. More...
 

Detailed Description

Polynome used for Z trajectory.

Constructor & Destructor Documentation

◆ Polynome4()

Polynome4::Polynome4 ( double  FT,
double  MP 
)

Constructor: FT: Final time MP: Middle position.

References SetParameters().

◆ ~Polynome4()

Polynome4::~Polynome4 ( )

Destructor.

Member Function Documentation

◆ GetParametersWithInitPosInitSpeed()

void Polynome4::GetParametersWithInitPosInitSpeed ( double &  FT,
double &  MP,
double &  InitPos,
double &  InitSpeed 
)

Get the parameters

References PatternGeneratorJRL::Polynome::m_Coefficients.

◆ SetParameters()

void Polynome4::SetParameters ( double  FT,
double  MP 
)

Set the parameters.

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome4().

◆ SetParametersWithInitPosInitSpeed()

void Polynome4::SetParametersWithInitPosInitSpeed ( double  FT,
double  MP,
double  InitPos,
double  InitSpeed 
)

Set the parameters such that the initial position, and initial speed are different from zero. Final velocity and position are 0

References PatternGeneratorJRL::Polynome::m_Coefficients.