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Polynome.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 _POLYNOME_H_
32#define _POLYNOME_H_
33
34#include <iostream>
35#include <vector>
36
37using namespace ::std;
38
39namespace PatternGeneratorJRL {
40
42class Polynome {
43 public:
45 Polynome(int Degree);
46
48 ~Polynome();
49
51 double Compute(double t);
52
54 double ComputeDerivative(double t);
55
57 double ComputeSecDerivative(double t);
58
60 double ComputeJerk(double t);
61
63 void GetCoefficients(std::vector<double> &lCoefficients) const;
64
66 void SetCoefficients(const std::vector<double> &lCoefficients);
67
68 inline int Degree() { return m_Degree; };
69
71 void print() const;
72
73 protected:
76
78 std::vector<double> m_Coefficients;
79};
80} // namespace PatternGeneratorJRL
81#endif /* _POLYNOME_H_*/
Definition Polynome.hh:42
double ComputeSecDerivative(double t)
Definition Polynome.cpp:58
int Degree()
Definition Polynome.hh:68
double ComputeDerivative(double t)
Definition Polynome.cpp:49
~Polynome()
Definition Polynome.cpp:38
void print() const
Definition Polynome.cpp:84
void SetCoefficients(const std::vector< double > &lCoefficients)
Definition Polynome.cpp:80
void GetCoefficients(std::vector< double > &lCoefficients) const
Definition Polynome.cpp:76
std::vector< double > m_Coefficients
Vector of coefficients.
Definition Polynome.hh:78
double Compute(double t)
Definition Polynome.cpp:40
int m_Degree
Degree of the polynome.
Definition Polynome.hh:75
double ComputeJerk(double t)
Definition Polynome.cpp:67
\doc Simulate a rigid body
Definition patterngeneratorinterface.hh:41