PatternGeneratorJRL::Polynome Class Reference

Class for computing trajectories. More...

#include <Mathematics/Polynome.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome:

Collaboration diagram for PatternGeneratorJRL::Polynome:

Public Member Functions
	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

Protected Attributes
int	m_Degree
	Degree of the polynome.
std::vector< double >	m_Coefficients
	Vector of coefficients.

Detailed Description

Class for computing trajectories.

Constructor & Destructor Documentation

Polynome()

Polynome::Polynome

(

int

Degree

)

Constructor

References Degree(), m_Coefficients, m_Degree, and Polynome().

Referenced by Polynome(), PatternGeneratorJRL::Polynome3::Polynome3(), PatternGeneratorJRL::Polynome4::Polynome4(), PatternGeneratorJRL::Polynome5::Polynome5(), PatternGeneratorJRL::Polynome6::Polynome6(), PatternGeneratorJRL::StepOverPolynomeFoot::StepOverPolynomeFoot(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::StepOverPolynomeFootXtoTime(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::StepOverPolynomeFootZtoX(), and PatternGeneratorJRL::StepOverPolynomeHip4::StepOverPolynomeHip4().

~Polynome()

Polynome::~Polynome

(

)

Destructor

References ~Polynome().

Referenced by ~Polynome().

Member Function Documentation

Compute()

double Polynome::Compute

(

double

t

)

Compute the value.

References Compute(), i, and m_Coefficients.

Referenced by Compute().

ComputeDerivative()

double Polynome::ComputeDerivative

(

double

t

)

Compute the value of the derivative.

References ComputeDerivative(), i, and m_Coefficients.

Referenced by ComputeDerivative().

ComputeSecDerivative()

double Polynome::ComputeSecDerivative

(

double

t

)

Compute the value of the second derivative.

References ComputeSecDerivative(), i, and m_Coefficients.

Referenced by ComputeSecDerivative().

Degree()

int PatternGeneratorJRL::Polynome::Degree ( )

inline

References m_Degree.

Referenced by Polynome().

GetCoefficients()

void Polynome::GetCoefficients

(

std::vector< double > &

lCoefficients

)

const

Get the coefficients.

References GetCoefficients(), and m_Coefficients.

Referenced by GetCoefficients(), and PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::operator<<.

print()

void Polynome::print

(

)

const

Print the coefficient.

References i, m_Coefficients, and print().

Referenced by print().

SetCoefficients()

void Polynome::SetCoefficients

(

const std::vector< double > &

lCoefficients

)

Set the coefficients.

References m_Coefficients, and SetCoefficients().

Referenced by SetCoefficients().

Member Data Documentation

m_Coefficients

std::vector<double> PatternGeneratorJRL::Polynome::m_Coefficients

protected

Vector of coefficients.

Referenced by Compute(), ComputeDerivative(), ComputeSecDerivative(), GetCoefficients(), PatternGeneratorJRL::Polynome3::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome4::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome5::GetParametersWithInitPosInitSpeed(), Polynome(), print(), SetCoefficients(), PatternGeneratorJRL::Polynome3::SetParameters(), PatternGeneratorJRL::Polynome4::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome6::SetParameters(), PatternGeneratorJRL::Polynome6::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::Polynome3::SetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome4::SetParametersWithInitPosInitSpeed(), and PatternGeneratorJRL::Polynome5::SetParametersWithInitPosInitSpeed().

m_Degree

int PatternGeneratorJRL::Polynome::m_Degree

protected

Degree of the polynome.

Referenced by Degree(), and Polynome().