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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)
 Constructor: FT: Final time FP: Final position.
 
void SetParameters (double FT, double FP)
 Set the parameters.
 
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)
 Set parameters considering initial position, velocity, acceleration.
 
 ~Polynome5 ()
 Destructor.
 
- 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.
 
std::vector< double > m_Coefficients
 Vector of coefficients.
 

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.

References SetParameters().

◆ ~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.

References PatternGeneratorJRL::Polynome::m_Coefficients.

◆ SetParameters() [1/2]

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

Set the parameters.

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome5().

◆ SetParameters() [2/2]

void Polynome5::SetParameters ( double FT,
double FP,
double InitPos,
double InitSpeed,
double InitAcc )

Set parameters considering initial position, velocity, acceleration.

References PatternGeneratorJRL::Polynome::m_Coefficients.

◆ 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.

References PatternGeneratorJRL::Polynome::m_Coefficients.