PatternGeneratorJRL::Polynome6 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome6:
Collaboration diagram for PatternGeneratorJRL::Polynome6:

List of all members.

Public Member Functions

 Polynome6 (double FT, double MP, double FP=0.0)
 Constructor: FT: Final time MP: Middle position.
void SetParameters (double FT, double MP, double FP=0.0)
 Set the parameters.
void SetParametersWithMiddlePos (double FT, double MP, double InitPos, double InitSpeed, double InitAcc=0.0, double FP=0.0)
void GetParametersWithInitPosInitSpeed (double &TimeInterval, double &MiddlePosition, double &FinalPosition, double &InitPosition, double &InitSpeed)
 ~Polynome6 ()
 Destructor.

Detailed Description

Polynome used for Z trajectory.


Constructor & Destructor Documentation

Polynome6::Polynome6 ( double  FT,
double  MP,
double  FP = 0.0 
)

Constructor: FT: Final time MP: Middle position.

References SetParameters().

Polynome6::~Polynome6 ( )

Destructor.


Member Function Documentation

void PatternGeneratorJRL::Polynome6::GetParametersWithInitPosInitSpeed ( double &  TimeInterval,
double &  MiddlePosition,
double &  FinalPosition,
double &  InitPosition,
double &  InitSpeed 
)
void PatternGeneratorJRL::Polynome6::SetParameters ( double  FT,
double  MP,
double  FP = 0.0 
)

Set the parameters.

Referenced by Polynome6().

void Polynome6::SetParametersWithMiddlePos ( double  FT,
double  MP,
double  InitPos,
double  InitSpeed,
double  InitAcc = 0.0,
double  FP = 0.0 
)