31 #ifndef _POLYNOME_FOOT_H_ 32 #define _POLYNOME_FOOT_H_ 73 Polynome3(
double FT,
double IP,
double IS,
double FP,
double FS);
80 void SetParameters(
double FT,
double FP);
84 void SetParameters(
double FT,
double IP,
double IS,
double FP,
double FS);
91 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
94 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
95 double &InitPos,
double &InitSpeed);
110 Polynome4(
double FT,
double MP,
double FP = 0.0);
115 void SetParameters(
double FT,
double MP,
double FP = 0.0);
124 void SetParameters(
double FT,
double InitPos,
double InitSpeed,
125 double InitAcc,
double FinalSpeed,
double FinalAcc);
132 void SetParametersWithInitPosInitSpeed(
double FT,
double MP,
double InitPos,
133 double InitSpeed,
double FP = 0.0);
136 void GetParametersWithInitPosInitSpeed(
double &FT,
double &MP,
double &FP,
137 double &InitPos,
double &InitSpeed);
151 double InitPos_, InitSpeed_, InitAcc_, FinalPos_, FinalSpeed_, FinalAcc_;
160 void SetParameters(
double FT,
double FP);
166 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
172 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
173 double &InitPos,
double &InitSpeed);
177 void SetParameters(
double FT,
double FP,
double InitPos,
double InitSpeed,
178 double InitAcc,
double InitJerk = 0.0);
183 void SetParameters(
double FT,
double InitPos,
double InitSpeed,
184 double InitAcc,
double FinalPos,
double FinalSpeed,
194 double MP_, FP_, InitPos_, InitSpeed_, InitAcc_;
200 Polynome6(
double FT,
double MP,
double FP = 0.0);
205 void SetParameters(
double FT,
double MP,
double FP = 0.0);
206 void SetParametersWithMiddlePos(
double FT,
double MP,
double InitPos,
207 double InitSpeed,
double InitAcc = 0.0,
210 void GetParametersWithInitPosInitSpeed(
double &TimeInterval,
211 double &MiddlePosition,
212 double &FinalPosition,
213 double &InitPosition,
222 double FP_, InitPos_, InitSpeed_, InitAcc_, InitJerk_;
231 void SetParameters(
double FT,
double FP);
237 void SetParametersWithInitPosInitSpeed(
double FT,
double FP,
double InitPos,
242 void SetParameters(
double FT,
double FP,
double InitPos,
double InitSpeed,
243 double InitAcc,
double InitJerk = 0.0);
249 void GetParametersWithInitPosInitSpeed(
double &FT,
double &FP,
250 double &InitPos,
double &InitSpeed);
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:220
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:65
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:105
Polynome used for X,Y and Theta trajectories.
Definition: PolynomeFoot.hh:149
Definition: Polynome.hh:42
Polynome used for Z trajectory.
Definition: PolynomeFoot.hh:192
Simulate a rigid body
Definition: patterngeneratorinterface.hh:41