PatternGeneratorJRL::StepOverPolynomeFoot Class Reference

Polynome used for Z trajectory during stepover. More...

#include <Mathematics/StepOverPolynome.hh>

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

Collaboration diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

Public Member Functions
	StepOverPolynomeFoot ()
void	SetParameters (MAL_VECTOR(boundCond, double), std::vector< double > timeDistr)
	~StepOverPolynomeFoot ()
Public Member Functions inherited from PatternGeneratorJRL::Polynome
	Polynome (int Degree)
	~Polynome ()
double	Compute (double t)
double	ComputeDerivative (double t)
double	ComputeSecDerivative (double t)
void	GetCoefficients (std::vector< double > &lCoefficients) const
void	SetCoefficients (const std::vector< double > &lCoefficients)
int	Degree ()
void	print () const

Additional Inherited Members
Protected Attributes inherited from PatternGeneratorJRL::Polynome
int	m_Degree
	Degree of the polynome.
std::vector< double >	m_Coefficients
	Vector of coefficients.

Detailed Description

Polynome used for Z trajectory during stepover.

Constructor & Destructor Documentation

StepOverPolynomeFoot()

StepOverPolynomeFoot::StepOverPolynomeFoot

(

)

Constructor: boundCond: the different boundary conditions begin, intermediate and end of polynomial timeDistr: vector with time instants for intermediate boundary conditions and end time

References PatternGeneratorJRL::Polynome::Polynome(), and StepOverPolynomeFoot().

Referenced by StepOverPolynomeFoot().

~StepOverPolynomeFoot()

StepOverPolynomeFoot::~StepOverPolynomeFoot

(

)

Destructor.

Member Function Documentation

SetParameters()

void StepOverPolynomeFoot::SetParameters	(	MAL_VECTOR(boundCond, double)	,
		std::vector< double >	timeDistr )

Set the parameters

References i, j, and PatternGeneratorJRL::Polynome::m_Coefficients.