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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 <Eigen/Dense>
36#include <vector>
37
38namespace PatternGeneratorJRL {
42 public:
49
51 void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
52
55};
56
60 public:
65
67 void SetParameters(Eigen::VectorXd Zpos, std::vector<double> Xpos);
68
71};
72
77 public:
81
83 void SetParameters(Eigen::VectorXd Xbound, std::vector<double> timedistr);
84
87};
88
93 public:
101
102 // Set the parameters
103 void SetParameters(Eigen::VectorXd boundCond, std::vector<double> timeDistr);
104
107};
108
113 public:
116
118 void SetParameters(Eigen::VectorXd Points);
119
120 double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
121
122 void print();
123
126
127 protected:
128 unsigned long int m_number;
129 Eigen::MatrixXd m_Coefficients;
130};
131
135 public:
138
140 void SetParameters(Eigen::VectorXd Points, Eigen::VectorXd TimePoints,
141 Eigen::VectorXd DerivativeEndPoints);
142
143 double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime);
144
145 void print();
148
149 protected:
150 unsigned long int m_number;
151 Eigen::MatrixXd m_Coefficients;
152};
153
154} // namespace PatternGeneratorJRL
155
156#endif /* _STEPOVER_POLYNOME_H_ */
Definition Polynome.hh:42
Definition StepOverPolynome.hh:134
double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime)
Definition StepOverPolynome.cpp:535
unsigned long int m_number
Definition StepOverPolynome.hh:150
void SetParameters(Eigen::VectorXd Points, Eigen::VectorXd TimePoints, Eigen::VectorXd DerivativeEndPoints)
Definition StepOverPolynome.cpp:471
Eigen::MatrixXd m_Coefficients
Definition StepOverPolynome.hh:151
StepOverClampedCubicSpline()
Definition StepOverPolynome.cpp:468
void print()
Definition StepOverPolynome.cpp:593
~StepOverClampedCubicSpline()
Definition StepOverPolynome.cpp:603
Polynome used for X trajectory in function of time to combine with StepOverPolynomeFootZtoX.
Definition StepOverPolynome.hh:76
void SetParameters(Eigen::VectorXd Xbound, std::vector< double > timedistr)
Definition StepOverPolynome.cpp:219
StepOverPolynomeFootXtoTime()
Definition StepOverPolynome.cpp:215
~StepOverPolynomeFootXtoTime()
Definition StepOverPolynome.cpp:285
Polynome used for Z trajectory during stepover.
Definition StepOverPolynome.hh:59
~StepOverPolynomeFootZtoX()
Definition StepOverPolynome.cpp:211
StepOverPolynomeFootZtoX()
Definition StepOverPolynome.cpp:158
void SetParameters(Eigen::VectorXd Zpos, std::vector< double > Xpos)
Definition StepOverPolynome.cpp:162
Polynome used for Z trajectory during stepover.
Definition StepOverPolynome.hh:41
StepOverPolynomeFoot()
Definition StepOverPolynome.cpp:36
void SetParameters(Eigen::VectorXd boundCond, std::vector< double > timeDistr)
Definition StepOverPolynome.cpp:40
~StepOverPolynomeFoot()
Definition StepOverPolynome.cpp:155
Polynome for the hip trajectory.
Definition StepOverPolynome.hh:92
StepOverPolynomeHip4()
Definition StepOverPolynome.cpp:290
~StepOverPolynomeHip4()
Definition StepOverPolynome.cpp:344
void SetParameters(Eigen::VectorXd boundCond, std::vector< double > timeDistr)
Definition StepOverPolynome.cpp:294
spline function calculation class to calculate cubic splines
Definition StepOverPolynome.hh:112
Eigen::MatrixXd m_Coefficients
Definition StepOverPolynome.hh:129
void print()
Definition StepOverPolynome.cpp:452
double GetValueSpline(Eigen::VectorXd TimePoints, double CurrentLocalTime)
Definition StepOverPolynome.cpp:402
StepOverSpline()
Definition StepOverPolynome.cpp:348
~StepOverSpline()
Definition StepOverPolynome.cpp:464
unsigned long int m_number
Definition StepOverPolynome.hh:128
void SetParameters(Eigen::VectorXd Points)
Definition StepOverPolynome.cpp:352
\doc Simulate a rigid body
Definition patterngeneratorinterface.hh:41