PatternGeneratorJRL::Polynome7 Class Reference

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

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome7:
Collaboration diagram for PatternGeneratorJRL::Polynome7:

List of all members.

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.

Detailed Description

Polynome used for X,Y and Theta trajectories.


Constructor & Destructor Documentation

Polynome7::Polynome7 ( double  FT,
double  FP 
)

Constructor: FT: Final time FP: Final position.

References SetParameters().

Polynome7::~Polynome7 ( )

Destructor.


Member Function Documentation

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.