Polynome used for X,Y and Theta trajectories. More...
#include <Mathematics/PolynomeFoot.hh>
Public Member Functions | |
Polynome3 (double FT, double FP) | |
Constructor: FT: Final time FP: Final position. | |
Polynome3 (double FT, double IP, double IS, double FP, double FS) | |
Additionnal Constructor: | |
void | SetParameters (double FT, double FP) |
void | SetParameters (double FT, double IP, double IS, double FP, double FS) |
void | SetParametersWithInitPosInitSpeed (double FT, double FP, double InitPos, double InitSpeed) |
void | GetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed) |
~Polynome3 () | |
Destructor. |
Polynome used for X,Y and Theta trajectories.
Polynome3::Polynome3 | ( | double | FT, |
double | FP | ||
) |
Constructor: FT: Final time FP: Final position.
References SetParameters().
Polynome3::Polynome3 | ( | double | FT, |
double | IP, | ||
double | IS, | ||
double | FP, | ||
double | FS | ||
) |
Additionnal Constructor:
References SetParameters().
Polynome3::~Polynome3 | ( | ) |
Destructor.
void PatternGeneratorJRL::Polynome3::GetParametersWithInitPosInitSpeed | ( | double & | FT, |
double & | FP, | ||
double & | InitPos, | ||
double & | InitSpeed | ||
) |
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 SetParametersWithInitPosInitSpeed().
Referenced by Polynome3().
void Polynome3::SetParameters | ( | double | FT, |
double | IP, | ||
double | IS, | ||
double | FP, | ||
double | FS | ||
) |
Set the parameters
References PatternGeneratorJRL::PolynomeFoot::FT_, and PatternGeneratorJRL::Polynome::m_Coefficients.
void PatternGeneratorJRL::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
Referenced by SetParameters().