PatternGeneratorJRL::Polynome5 Class Reference

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

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome5:
Collaboration diagram for PatternGeneratorJRL::Polynome5:

List of all members.

Public Member Functions

 Polynome5 (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 GetParametersWithInitPosInitSpeed (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.
void SetParameters (double FT, double InitPos, double InitSpeed, double InitAcc, double FinalPos, double FinalSpeed, double FinalAcc)
 Set parameters considering initial position, velocity, acceleration, and final poistion, velocity and acceleration.
 ~Polynome5 ()
 Destructor.

Detailed Description

Polynome used for X,Y and Theta trajectories.


Constructor & Destructor Documentation

Polynome5::Polynome5 ( double  FT,
double  FP 
)

Constructor: FT: Final time FP: Final position.

References SetParameters().

Polynome5::~Polynome5 ( )

Destructor.


Member Function Documentation

void PatternGeneratorJRL::Polynome5::GetParametersWithInitPosInitSpeed ( double &  FT,
double &  FP,
double &  InitPos,
double &  InitSpeed 
)

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

void Polynome5::SetParameters ( double  FT,
double  FP 
)

Set the parameters.

Referenced by Polynome5().

void PatternGeneratorJRL::Polynome5::SetParameters ( double  FT,
double  FP,
double  InitPos,
double  InitSpeed,
double  InitAcc,
double  InitJerk = 0.0 
)

Set parameters considering initial position, velocity, acceleration.

void Polynome5::SetParameters ( double  FT,
double  InitPos,
double  InitSpeed,
double  InitAcc,
double  FinalPos,
double  FinalSpeed,
double  FinalAcc 
)

Set parameters considering initial position, velocity, acceleration, and final poistion, velocity and acceleration.

References PatternGeneratorJRL::PolynomeFoot::FT_, and PatternGeneratorJRL::Polynome::m_Coefficients.

void PatternGeneratorJRL::Polynome5::SetParametersWithInitPosInitSpeed ( double  FT,
double  FP,
double  InitPos,
double  InitSpeed 
)

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