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PatternGeneratorJRL::Polynome3 Class Reference

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

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome3:
Collaboration diagram for PatternGeneratorJRL::Polynome3:

Public Member Functions

 Polynome3 (double FT, double FP)
 Constructor: FT: Final time FP: Final position.
 
void SetParameters (double FT, double FP)
 
void SetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed)
 
void GetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed)
 
 ~Polynome3 ()
 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

◆ Polynome3()

Polynome3::Polynome3 ( double FT,
double FP )

Constructor: FT: Final time FP: Final position.

References SetParameters().

◆ ~Polynome3()

Polynome3::~Polynome3 ( )

Destructor.

Member Function Documentation

◆ GetParametersWithInitPosInitSpeed()

void Polynome3::GetParametersWithInitPosInitSpeed ( double & FT,
double & FP,
double & InitPos,
double & InitSpeed )

◆ SetParameters()

void Polynome3::SetParameters ( double FT,
double FP )

Set the parameters This method assumes implicitly a position set to zero, and a speed equals to zero. Final velocity is 0

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome3().

◆ SetParametersWithInitPosInitSpeed()

void Polynome3::SetParametersWithInitPosInitSpeed ( double & FT,
double & FP,
double & InitPos,
double & InitSpeed )

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

References PatternGeneratorJRL::Polynome::m_Coefficients.