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 PatternGeneratorJRL::Polynome::Polynome(), and 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 )

References PatternGeneratorJRL::Polynome::m_Coefficients.