PatternGeneratorJRL::Polynome4 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome4:
Collaboration diagram for PatternGeneratorJRL::Polynome4:

List of all members.

Public Member Functions

 Polynome4 (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 SetParameters (double FT, double InitPos, double InitSpeed, double InitAcc, double FinalSpeed, double FinalAcc)
 Set the parameters.
void SetParametersWithInitPosInitSpeed (double FT, double MP, double InitPos, double InitSpeed, double FP=0.0)
void GetParametersWithInitPosInitSpeed (double &FT, double &MP, double &FP, double &InitPos, double &InitSpeed)
 ~Polynome4 ()
 Destructor.

Detailed Description

Polynome used for Z trajectory.


Constructor & Destructor Documentation

Polynome4::Polynome4 ( double  FT,
double  MP,
double  FP = 0.0 
)

Constructor: FT: Final time MP: Middle position.

References SetParameters().

Polynome4::~Polynome4 ( )

Destructor.


Member Function Documentation

void PatternGeneratorJRL::Polynome4::GetParametersWithInitPosInitSpeed ( double &  FT,
double &  MP,
double &  FP,
double &  InitPos,
double &  InitSpeed 
)

Get the parameters

void PatternGeneratorJRL::Polynome4::SetParameters ( double  FT,
double  MP,
double  FP = 0.0 
)

Set the parameters.

Referenced by Polynome4().

void Polynome4::SetParameters ( double  FT,
double  InitPos,
double  InitSpeed,
double  InitAcc,
double  FinalSpeed,
double  FinalAcc 
)
void PatternGeneratorJRL::Polynome4::SetParametersWithInitPosInitSpeed ( double  FT,
double  MP,
double  InitPos,
double  InitSpeed,
double  FP = 0.0 
)

Set the parameters such that the initial position, and initial speed are different from zero. Final velocity and position are 0