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StepOverPolynome.hh
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1/*
2 * Copyright 2006, 2007, 2008, 2009, 2010,
3 *
4 * Florent Lamiraux
5 * Alireza Nakhaei
6 * Mathieu Poirier
7 * Olivier Stasse
8 *
9 * JRL, CNRS/AIST
10 *
11 * This file is part of walkGenJrl.
12 * walkGenJrl is free software: you can redistribute it and/or modify
13 * it under the terms of the GNU Lesser General Public License as published by
14 * the Free Software Foundation, either version 3 of the License, or
15 * (at your option) any later version.
16 *
17 * walkGenJrl is distributed in the hope that it will be useful,
18 * but WITHOUT ANY WARRANTY; without even the implied warranty of
19 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20 * GNU General Lesser Public License for more details.
21 * You should have received a copy of the GNU Lesser General Public License
22 * along with walkGenJrl. If not, see <http://www.gnu.org/licenses/>.
23 *
24 * Research carried out within the scope of the
25 * Joint Japanese-French Robotics Laboratory (JRL)
26 */
31#ifndef _STEPOVER_POLYNOME_H_
32#define _STEPOVER_POLYNOME_H_
33
34#include <vector>
35
36#include <Eigen/Dense>
38
39namespace PatternGeneratorJRL {
43public:
50
52 void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
53
56};
57
61public:
66
68 void SetParameters(Eigen::VectorXd Zpos, std::vector<double> Xpos);
69
72};
73
78public:
82
84 void SetParameters(Eigen::VectorXd Xbound, std::vector<double> timedistr);
85
88};
89
94public:
102
103 // Set the parameters
104 void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
105
108};
109
114public:
117
119 void SetParameters(Eigen::VectorXd Points);
120
121 double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
122
123 void print();
124
127
128protected:
129 unsigned long int m_number;
130 Eigen::MatrixXd m_Coefficients;
131};
132
136public:
139
141 void SetParameters(Eigen::VectorXd Points, Eigen::VectorXd TimePoints,
142 Eigen::VectorXd DerivativeEndPoints);
143
144 double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
145
146 void print();
149
150protected:
151 unsigned long int m_number;
152 Eigen::MatrixXd m_Coefficients;
153};
154
155} // namespace PatternGeneratorJRL
156
157#endif /* _STEPOVER_POLYNOME_H_ */
Definition: Polynome.hh:42
Definition: StepOverPolynome.hh:135
double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime)
Definition: StepOverPolynome.cpp:545
unsigned long int m_number
Definition: StepOverPolynome.hh:151
void SetParameters(Eigen::VectorXd Points, Eigen::VectorXd TimePoints, Eigen::VectorXd DerivativeEndPoints)
Definition: StepOverPolynome.cpp:480
Eigen::MatrixXd m_Coefficients
Definition: StepOverPolynome.hh:152
StepOverClampedCubicSpline()
Definition: StepOverPolynome.cpp:477
void print()
Definition: StepOverPolynome.cpp:603
~StepOverClampedCubicSpline()
Definition: StepOverPolynome.cpp:616
Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX.
Definition: StepOverPolynome.hh:77
void SetParameters(Eigen::VectorXd Xbound, std::vector< double > timedistr)
Definition: StepOverPolynome.cpp:223
StepOverPolynomeFootXtoTime()
Definition: StepOverPolynome.cpp:219
~StepOverPolynomeFootXtoTime()
Definition: StepOverPolynome.cpp:290
Polynome used for Z trajectory during stepover.
Definition: StepOverPolynome.hh:60
~StepOverPolynomeFootZtoX()
Definition: StepOverPolynome.cpp:215
StepOverPolynomeFootZtoX()
Definition: StepOverPolynome.cpp:161
void SetParameters(Eigen::VectorXd Zpos, std::vector< double > Xpos)
Definition: StepOverPolynome.cpp:165
Polynome used for Z trajectory during stepover.
Definition: StepOverPolynome.hh:42
StepOverPolynomeFoot()
Definition: StepOverPolynome.cpp:38
void SetParameters(Eigen::VectorXd boundCond, std::vector< double > timeDistr)
Definition: StepOverPolynome.cpp:42
~StepOverPolynomeFoot()
Definition: StepOverPolynome.cpp:158
Polynome for the hip trajectory.
Definition: StepOverPolynome.hh:93
StepOverPolynomeHip4()
Definition: StepOverPolynome.cpp:295
~StepOverPolynomeHip4()
Definition: StepOverPolynome.cpp:350
void SetParameters(Eigen::VectorXd boundCond, std::vector< double > timeDistr)
Definition: StepOverPolynome.cpp:299
spline function calculation class to calculate cubic splines
Definition: StepOverPolynome.hh:113
Eigen::MatrixXd m_Coefficients
Definition: StepOverPolynome.hh:130
void print()
Definition: StepOverPolynome.cpp:459
double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime)
Definition: StepOverPolynome.cpp:409
StepOverSpline()
Definition: StepOverPolynome.cpp:354
~StepOverSpline()
Definition: StepOverPolynome.cpp:473
unsigned long int m_number
Definition: StepOverPolynome.hh:129
void SetParameters(Eigen::VectorXd Points)
Definition: StepOverPolynome.cpp:358
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41