#include <Mathematics/PolynomeFoot.hh>
Public Member Functions | |
PolynomeFoot (int degree=0.0, double FT=0.0) | |
double | Compute (double t) |
double | ComputeDerivative (double t) |
double | ComputeSecDerivative (double t) |
double | ComputeJerk (double t) |
Protected Attributes | |
double | FT_ |
PatternGeneratorJRL::PolynomeFoot::PolynomeFoot | ( | int | degree = 0.0 , |
double | FT = 0.0 |
||
) | [inline] |
double PolynomeFoot::Compute | ( | double | t | ) |
Compute the value.
Reimplemented from PatternGeneratorJRL::Polynome.
References PatternGeneratorJRL::Bsplines::ComputeBasisFunctions(), PatternGeneratorJRL::Bsplines::m_basis_functions, PatternGeneratorJRL::Bsplines::m_basis_functions_derivative, PatternGeneratorJRL::Bsplines::m_basis_functions_sec_derivative, PatternGeneratorJRL::Bsplines::m_control_points, and PatternGeneratorJRL::Bsplines::m_degree.
double PolynomeFoot::ComputeDerivative | ( | double | t | ) |
Compute the value of the derivative.
Reimplemented from PatternGeneratorJRL::Polynome.
double PolynomeFoot::ComputeJerk | ( | double | t | ) |
Compute the value of the third derivative (jerk).
Reimplemented from PatternGeneratorJRL::Polynome.
double PolynomeFoot::ComputeSecDerivative | ( | double | t | ) |
Compute the value of the second derivative.
Reimplemented from PatternGeneratorJRL::Polynome.
double PatternGeneratorJRL::PolynomeFoot::FT_ [protected] |
Store final time
Referenced by PatternGeneratorJRL::Polynome7::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome3::SetParameters(), PatternGeneratorJRL::Polynome4::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome7::SetParametersWithInitPosInitSpeed(), and PatternGeneratorJRL::Polynome6::SetParametersWithMiddlePos().