Polynome used for X,Y and Theta trajectories. More...
#include <Mathematics/PolynomeFoot.hh>
Public Member Functions | |
Polynome7 (double FT, double FP) | |
Constructor: FT: Final time FP: Final position. | |
void | SetParameters (double FT, double FP) |
Set the parameters. | |
void | SetParametersWithInitPosInitSpeed (double FT, double FP, double InitPos, double InitSpeed) |
void | SetParameters (double FT, double FP, double InitPos, double InitSpeed, double InitAcc, double InitJerk=0.0) |
Set parameters considering initial position, velocity, acceleration, jerk. | |
void | GetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed) |
~Polynome7 () | |
Destructor. |
Polynome used for X,Y and Theta trajectories.
Polynome7::Polynome7 | ( | double | FT, |
double | FP | ||
) |
Constructor: FT: Final time FP: Final position.
References SetParameters().
Polynome7::~Polynome7 | ( | ) |
Destructor.
void Polynome7::GetParametersWithInitPosInitSpeed | ( | double & | FT, |
double & | FP, | ||
double & | InitPos, | ||
double & | InitSpeed | ||
) |
Set the parameters such that the initial position, and initial speed are different from zero.
References PatternGeneratorJRL::PolynomeFoot::FT_, and PatternGeneratorJRL::Polynome::m_Coefficients.
void Polynome7::SetParameters | ( | double | FT, |
double | FP | ||
) |
Set the parameters.
Referenced by Polynome7().
void PatternGeneratorJRL::Polynome7::SetParameters | ( | double | FT, |
double | FP, | ||
double | InitPos, | ||
double | InitSpeed, | ||
double | InitAcc, | ||
double | InitJerk = 0.0 |
||
) |
Set parameters considering initial position, velocity, acceleration, jerk.
void Polynome7::SetParametersWithInitPosInitSpeed | ( | double | FT, |
double | FP, | ||
double | InitPos, | ||
double | InitSpeed | ||
) |
Set the parameters such that the initial position, and initial speed are different from zero.
References PatternGeneratorJRL::PolynomeFoot::FT_, and PatternGeneratorJRL::Polynome::m_Coefficients.