PatternGeneratorJRL::Polynome3 Class Reference

Polynome used for X,Y and Theta trajectories. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome3:
Collaboration diagram for PatternGeneratorJRL::Polynome3:

List of all members.

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.

Detailed Description

Polynome used for X,Y and Theta trajectories.


Constructor & Destructor Documentation

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.


Member Function Documentation

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 
)
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().