PatternGeneratorJRL::StepOverPolynomeFoot Class Reference

Polynome used for Z trajectory during stepover. More...

#include <Mathematics/StepOverPolynome.hh>

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFoot:
Collaboration diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

List of all members.

Public Member Functions

 StepOverPolynomeFoot ()
void SetParameters (MAL_VECTOR(boundCond, double), std::vector< double > timeDistr)
 ~StepOverPolynomeFoot ()

Detailed Description

Polynome used for Z trajectory during stepover.


Constructor & Destructor Documentation

StepOverPolynomeFoot::StepOverPolynomeFoot ( )

Constructor: boundCond: the different boundary conditions begin, intermediate and end of polynomial timeDistr: vector with time instants for intermediate boundary conditions and end time

StepOverPolynomeFoot::~StepOverPolynomeFoot ( )

Destructor.


Member Function Documentation

void PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters ( MAL_VECTOR(boundCond, double)  ,
std::vector< double >  timeDistr 
)

Set the parameters