PatternGeneratorJRL::BSplinesFoot Class Reference

Bsplines used for Z trajectory of stair steps. More...

#include <Mathematics/Bsplines.hh>

Inheritance diagram for PatternGeneratorJRL::BSplinesFoot:
Collaboration diagram for PatternGeneratorJRL::BSplinesFoot:

List of all members.

Public Member Functions

 BSplinesFoot (double FT=1.0, double IP=0.0, double FP=0.0, std::vector< double >ToMP=std::vector< double >(), std::vector< double > MP=std::vector< double >(), double IS=0.0, double IA=0.0, double FS=0.0, double FA=0.0)
 Constructor: FT: Final time FP: Final position ToMP : Time of Max Position MP : Max Position.
 ~BSplinesFoot ()
 Detructor.
void SetParameters (double FT, double IP, double FP, std::vector< double >ToMP, std::vector< double > MP, double IS=0.0, double IA=0.0, double FS=0.0, double FA=0.0)
int Compute (double t, double &x, double &dx, double &ddx)
void ComputeControlPointFrom2DataPoint ()
void ComputeControlPointFrom3DataPoint ()
void ComputeControlPointFrom4DataPoint ()
void GetParameters (double &FT, double &IP, double &FP, std::vector< double > &ToMP, std::vector< double > &MP)
std::vector< double > MP ()
std::vector< double > ToMP ()
double FT ()
double IP ()
double FP ()

Detailed Description

Bsplines used for Z trajectory of stair steps.


Constructor & Destructor Documentation

BSplinesFoot::BSplinesFoot ( double  FT = 1.0,
double  IP = 0.0,
double  FP = 0.0,
std::vector< double >  ToMP = std::vector<double>(),
std::vector< double >  MP = std::vector<double>(),
double  IS = 0.0,
double  IA = 0.0,
double  FS = 0.0,
double  FA = 0.0 
)

Constructor: FT: Final time FP: Final position ToMP : Time of Max Position MP : Max Position.

References SetParameters().

BSplinesFoot::~BSplinesFoot ( )

Detructor.


Member Function Documentation

int PatternGeneratorJRL::BSplinesFoot::Compute ( double  t,
double &  x,
double &  dx,
double &  ddx 
)

Compute Position at time t

void BSplinesFoot::ComputeControlPointFrom2DataPoint ( void  )
double PatternGeneratorJRL::BSplinesFoot::FT ( ) [inline]
void BSplinesFoot::GetParameters ( double &  FT,
double &  IP,
double &  FP,
std::vector< double > &  ToMP,
std::vector< double > &  MP 
)
std::vector<double> PatternGeneratorJRL::BSplinesFoot::MP ( ) [inline]
void PatternGeneratorJRL::BSplinesFoot::SetParameters ( double  FT,
double  IP,
double  FP,
std::vector< double >  ToMP,
std::vector< double >  MP,
double  IS = 0.0,
double  IA = 0.0,
double  FS = 0.0,
double  FA = 0.0 
)

Set the parameters This method assumes implicitly a initial position initial speed and initial acceleration equal to zero. The same for final speed and final acceleration. Speed at Max Position is around zero. It generates knot vector and control point vector according to the input

Referenced by BSplinesFoot().

std::vector<double> PatternGeneratorJRL::BSplinesFoot::ToMP ( ) [inline]