PatternGeneratorJRL::StepOverPolynomeFootXtoTime Class Reference

Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX. More...

#include <Mathematics/StepOverPolynome.hh>

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFootXtoTime:

Collaboration diagram for PatternGeneratorJRL::StepOverPolynomeFootXtoTime:

Public Member Functions
	StepOverPolynomeFootXtoTime ()
void	SetParameters (MAL_VECTOR(Xbound, double), std::vector< double > timedistr)
	~StepOverPolynomeFootXtoTime ()
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 X trajectory in function of time to combine with StepOverPolynomeFootZtoX.

Constructor & Destructor Documentation

StepOverPolynomeFootXtoTime()

StepOverPolynomeFootXtoTime::StepOverPolynomeFootXtoTime

(

)

Constructor: Zpos: vector with Zpos

References PatternGeneratorJRL::Polynome::Polynome().

~StepOverPolynomeFootXtoTime()

StepOverPolynomeFootXtoTime::~StepOverPolynomeFootXtoTime

(

)

Destructor.

Member Function Documentation

SetParameters()

void StepOverPolynomeFootXtoTime::SetParameters	(	MAL_VECTOR(Xbound, double)	,
		std::vector< double >	timedistr )

Set the parameters

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