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PatternGeneratorJRL::Polynome6 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome6:
Collaboration diagram for PatternGeneratorJRL::Polynome6:

Public Member Functions

 Polynome6 (double FT, double MP)
 Constructor: FT: Final time MP: Middle position.
 
void SetParameters (double FT, double MP)
 Set the parameters.
 
void SetParameters (double FT, double PM, double InitPos, double InitSpeed, double InitAcc)
 
 ~Polynome6 ()
 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 Z trajectory.

Constructor & Destructor Documentation

◆ Polynome6()

Polynome6::Polynome6 ( double FT,
double MP )

Constructor: FT: Final time MP: Middle position.

References SetParameters().

◆ ~Polynome6()

Polynome6::~Polynome6 ( )

Destructor.

Member Function Documentation

◆ SetParameters() [1/2]

void Polynome6::SetParameters ( double FT,
double MP )

Set the parameters.

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome6().

◆ SetParameters() [2/2]

void Polynome6::SetParameters ( double FT,
double PM,
double InitPos,
double InitSpeed,
double InitAcc )