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28 #ifndef _ANALYTICAL_COG_H_
29 #define _ANALYTICAL_COG_H_
142 std::vector<double> &lW);
146 std::vector<double> &lomegaj);
165 std::vector<double> &lW)
const;
169 std::vector<double> &lomegaj);
191 std::vector<double> &lZMPZ);
199 unsigned int IntervalIndex,
double &lCOMZ,
double &lZMPZ);
213 friend std::ostream &
operator<<(std::ostream &os,
230 unsigned int &prev_j);
Definition: Polynome.hh:42
std::vector< double > m_RefTime
Definition: AnalyticalZMPCOGTrajectory.hh:252
void SetStartingTimeIntervalsAndHeightVariation(std::vector< double > &lDeltaTj, std::vector< double > &lomegaj)
Set the starting point and the height variation.
Definition: AnalyticalZMPCOGTrajectory.cpp:269
bool ComputeCOM(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:79
std::vector< double > m_W
Definition: AnalyticalZMPCOGTrajectory.hh:242
void TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne(unsigned int IntervalIndex, double &lCOMZ, double &lZMPZ)
Transfert the coefficients from the COG trajectory to the ZMP.
Definition: AnalyticalZMPCOGTrajectory.cpp:353
double m_AbsoluteTimeReference
Definition: AnalyticalZMPCOGTrajectory.hh:267
std::vector< double > m_DeltaTj
Definition: AnalyticalZMPCOGTrajectory.hh:245
double GetAbsoluteTimeReference() const
Absolute Time reference of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.hh:217
bool GetFromListOfZMPPolynomials(unsigned int j, Polynome *&aPoly) const
Definition: AnalyticalZMPCOGTrajectory.cpp:341
void SetNumberOfIntervals(unsigned int lNbOfIntervals)
Set the number of Intervals for this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:60
std::vector< unsigned int > m_PolynomialDegree
Definition: AnalyticalZMPCOGTrajectory.hh:255
void GetNumberOfIntervals(unsigned int &lNbOfIntervals) const
Set the number of Intervals for this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:313
std::vector< Polynome * > m_ListOfCOGPolynomials
Definition: AnalyticalZMPCOGTrajectory.hh:258
void GetPolynomialDegrees(std::vector< unsigned int > &lPolynomialDegree) const
Get the degree of each polynomials for the CoG.
Definition: AnalyticalZMPCOGTrajectory.cpp:308
std::ostream & operator<<(std::ostream &os, const COMPosition_s &aCp)
Definition: pgtypes.hh:63
AnalyticalZMPCOGTrajectory(int lNbOfIntervals=0)
Definition: AnalyticalZMPCOGTrajectory.cpp:37
void SetCoGHyperbolicCoefficients(std::vector< double > &lV, std::vector< double > &lW)
Set the coefficients for the sinuse and cosinues function.
Definition: AnalyticalZMPCOGTrajectory.cpp:261
bool ComputeZMP(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:185
friend std::ostream & operator<<(std::ostream &os, const AnalyticalZMPCOGTrajectory &obj)
std::vector< double > m_V
Definition: AnalyticalZMPCOGTrajectory.hh:238
void GetStartingPointAndHeightVariation(std::vector< double > &lTj, std::vector< double > &lomegaj)
Get the starting point and the height variation.
Definition: AnalyticalZMPCOGTrajectory.cpp:324
std::vector< double > m_omegaj
Definition: AnalyticalZMPCOGTrajectory.hh:249
std::vector< Polynome * > m_ListOfZMPPolynomials
Definition: AnalyticalZMPCOGTrajectory.hh:261
bool ComputeZMPSpeed(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:218
void TransfertCoefficientsFromCOGTrajectoryToZMPOne(std::vector< double > &lCOMZ, std::vector< double > &lZMPZ)
Transfert the coefficients from the COG trajectory to the ZMP for all intervals.
Definition: AnalyticalZMPCOGTrajectory.cpp:378
void SetPolynomialDegrees(std::vector< unsigned int > &lPolynomialDegree)
Set the degree of each polynomials for the CoG Remark: the size of the vector of degrees should match...
Definition: AnalyticalZMPCOGTrajectory.cpp:288
int m_NbOfIntervals
Definition: AnalyticalZMPCOGTrajectory.hh:234
void SetAbsoluteTimeReference(double anAbsoluteTimeReference)
Set Absolute time reference of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.hh:220
double m_Sensitivity
Definition: AnalyticalZMPCOGTrajectory.hh:270
void GetHyperbolicCoefficients(std::vector< double > &lV, std::vector< double > &lW) const
Get the coefficients for the sinuse and cosinues function.
Definition: AnalyticalZMPCOGTrajectory.cpp:318
bool GetFromListOfCOGPolynomials(unsigned int j, Polynome *&aPoly) const
Get the polynomial at interval j for the CoG Remark: The call to this function assume that the method...
Definition: AnalyticalZMPCOGTrajectory.cpp:330
bool ComputeCOMSpeed(double t, double &r)
Definition: AnalyticalZMPCOGTrajectory.cpp:117
\doc Simulate a rigid body
Definition: patterngeneratorinterface.hh:41
bool ComputeCOMAcceleration(double t, double &r, int j)
Definition: AnalyticalZMPCOGTrajectory.cpp:173
Definition: AnalyticalZMPCOGTrajectory.hh:42
void FreePolynomes()
Definition: AnalyticalZMPCOGTrajectory.cpp:45
~AnalyticalZMPCOGTrajectory()
Definition: AnalyticalZMPCOGTrajectory.cpp:43
bool GetIntervalIndexFromTime(double t, unsigned int &j)
Get the index of the interval according to the time.
Definition: AnalyticalZMPCOGTrajectory.cpp:430
void Building3rdOrderPolynomial(unsigned int anIntervalj, double pjTjm1, double pjTj)
Definition: AnalyticalZMPCOGTrajectory.cpp:388
double FluctuationMaximal()
Returns the maximal fluctuation for the first segment of this trajectory.
Definition: AnalyticalZMPCOGTrajectory.cpp:417