Polynome used for Z trajectory.
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#include <Mathematics/PolynomeFoot.hh>
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| Polynome6 (double FT, double MP, double FP=0.0) |
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void | SetParameters (double FT, double MP, double FP=0.0) |
| Set the parameters.
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void | SetParametersWithMiddlePos (double FT, double MP, double InitPos, double InitSpeed, double InitAcc=0.0, double FP=0.0) |
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void | GetParametersWithInitPosInitSpeed (double &TimeInterval, double &MiddlePosition, double &FinalPosition, double &InitPosition, double &InitSpeed) |
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| ~Polynome6 () |
| Destructor.
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| Polynome (int Degree) |
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| ~Polynome () |
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double | Compute (double t) |
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double | ComputeDerivative (double t) |
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double | ComputeSecDerivative (double t) |
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double | ComputeJerk (double t) |
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void | GetCoefficients (std::vector< double > &lCoefficients) const |
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void | SetCoefficients (const std::vector< double > &lCoefficients) |
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int | Degree () |
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void | print () const |
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Polynome used for Z trajectory.
◆ Polynome6()
Polynome6::Polynome6 |
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double | FT, |
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double | MP, |
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double | FP = 0.0 ) |
Constructor: FT: Final time MP: Middle position
◆ ~Polynome6()
Polynome6::~Polynome6 |
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◆ GetParametersWithInitPosInitSpeed()
void Polynome6::GetParametersWithInitPosInitSpeed |
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double & | TimeInterval, |
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double & | MiddlePosition, |
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double & | FinalPosition, |
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double & | InitPosition, |
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double & | InitSpeed ) |
◆ SetParameters()
void Polynome6::SetParameters |
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double | FT, |
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double | MP, |
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double | FP = 0.0 ) |
◆ SetParametersWithMiddlePos()
void Polynome6::SetParametersWithMiddlePos |
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double | FT, |
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double | MP, |
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double | InitPos, |
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double | InitSpeed, |
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double | InitAcc = 0.0, |
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double | FP = 0.0 ) |
The documentation for this class was generated from the following files: