hpp-walkgen  4.9.0
Walk generator for hpp framework
hpp::walkgen::PiecewisePoly3 Class Reference

#include <hpp/walkgen/bspline-based.hh>

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const Polynomial3 &polynomial)
 
 PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const value_type &v0, const value_type &v1)
 
 PiecewisePoly3 (const value_type &tmin, const value_type &tmax, const vector7_t &values)
 Constructor with 7 values. More...
 
 PiecewisePoly3 ()
 
const value_typeoperator[] (const size_type &index) const
 

Public Attributes

value_type lower
 
value_type upper
 

Detailed Description

Polynomial function of degree 3 restricted to an interval

Represented by the values of the function taken at 7 equally spaced parameter values containing the boundaries of the interval of definition.

Constructor & Destructor Documentation

◆ PiecewisePoly3() [1/4]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type tmin,
const value_type tmax,
const Polynomial3 polynomial 
)
inline

Constructor

Parameters
tmin,tmax,intervalof definition
polynomialpolynomial of degree 3 defining the spline basis function.

◆ PiecewisePoly3() [2/4]

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type tmin,
const value_type tmax,
const value_type v0,
const value_type v1 
)
inline

Constructor for affine function

Parameters
tmin,tmax,intervalof definition
v0,v1values at tmin and tmax respectively.

◆ PiecewisePoly3() [3/4]

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( const value_type tmin,
const value_type tmax,
const vector7_t values 
)
inline

Constructor with 7 values.

◆ PiecewisePoly3() [4/4]

hpp::walkgen::PiecewisePoly3::PiecewisePoly3 ( )
inline

Empty constructor set all fields to Nan

Member Function Documentation

◆ operator[]()

const value_type& hpp::walkgen::PiecewisePoly3::operator[] ( const size_type index) const
inline

Get value at equally spaced parameter

Parameters
indexindex of the parameter between 0 and 6.

Member Data Documentation

◆ lower

value_type hpp::walkgen::PiecewisePoly3::lower

◆ upper

value_type hpp::walkgen::PiecewisePoly3::upper

The documentation for this class was generated from the following file: