Class for computing trajectories. More...
#include <Mathematics/Polynome.hh>
Public Member Functions | |
Polynome (int Degree) | |
~Polynome () | |
double | Compute (double t) |
double | ComputeDerivative (double t) |
double | ComputeSecDerivative (double t) |
double | ComputeJerk (double t) |
void | GetCoefficients (std::vector< double > &lCoefficients) const |
void | SetCoefficients (const std::vector< double > &lCoefficients) |
int | Degree () |
void | print () const |
Protected Attributes | |
int | m_Degree |
Degree of the polynome. | |
std::vector< double > | m_Coefficients |
Vector of coefficients. |
Class for computing trajectories.
Polynome::Polynome | ( | int | Degree | ) |
Constructor
Polynome::~Polynome | ( | ) |
Destructor
double PatternGeneratorJRL::Polynome::Compute | ( | double | t | ) |
Compute the value.
Reimplemented in PatternGeneratorJRL::PolynomeFoot.
double PatternGeneratorJRL::Polynome::ComputeDerivative | ( | double | t | ) |
Compute the value of the derivative.
Reimplemented in PatternGeneratorJRL::PolynomeFoot.
double PatternGeneratorJRL::Polynome::ComputeJerk | ( | double | t | ) |
Compute the value of the third derivative (jerk).
Reimplemented in PatternGeneratorJRL::PolynomeFoot.
double PatternGeneratorJRL::Polynome::ComputeSecDerivative | ( | double | t | ) |
Compute the value of the second derivative.
Reimplemented in PatternGeneratorJRL::PolynomeFoot.
int PatternGeneratorJRL::Polynome::Degree | ( | ) | [inline] |
References m_Degree.
void Polynome::GetCoefficients | ( | std::vector< double > & | lCoefficients | ) | const |
Get the coefficients.
Referenced by PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne().
void PatternGeneratorJRL::Polynome::print | ( | ) | const |
Print the coefficient.
void Polynome::SetCoefficients | ( | const std::vector< double > & | lCoefficients | ) |
Set the coefficients.
std::vector<double> PatternGeneratorJRL::Polynome::m_Coefficients [protected] |
Vector of coefficients.
Referenced by PatternGeneratorJRL::Polynome7::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome3::SetParameters(), PatternGeneratorJRL::Polynome4::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome7::SetParametersWithInitPosInitSpeed(), and PatternGeneratorJRL::Polynome6::SetParametersWithMiddlePos().
int PatternGeneratorJRL::Polynome::m_Degree [protected] |
Degree of the polynome.
Referenced by Degree().