Polynome used for Z trajectory during stepover. More...
#include <Mathematics/StepOverPolynome.hh>
Public Member Functions | |
StepOverPolynomeFoot () | |
void | SetParameters (MAL_VECTOR(boundCond, double), std::vector< double > timeDistr) |
~StepOverPolynomeFoot () | |
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Polynome (int Degree) | |
~Polynome () | |
double | Compute (double t) |
double | ComputeDerivative (double t) |
double | ComputeSecDerivative (double t) |
double | ComputeJerk (double t) |
void | GetCoefficients (std::vector< double > &lCoefficients) const |
void | SetCoefficients (const std::vector< double > &lCoefficients) |
int | Degree () |
void | print () const |
Additional Inherited Members | |
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int | m_Degree |
Degree of the polynome. More... | |
std::vector< double > | m_Coefficients |
Vector of coefficients. More... | |
Polynome used for Z trajectory during stepover.
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
StepOverPolynomeFoot::~StepOverPolynomeFoot | ( | ) |
Destructor.
void StepOverPolynomeFoot::SetParameters | ( | MAL_VECTOR(boundCond, double) | , |
std::vector< double > | timeDistr | ||
) |
Set the parameters
References i, j, PatternGeneratorJRL::Polynome::m_Coefficients, MAL_MATRIX_DIM, MAL_MATRIX_NB_ROWS, MAL_MATRIX_RET_DETERMINANT, and MAL_VECTOR.