PatternGeneratorJRL::AnalyticalZMPCOGTrajectory Class Reference

#include <Mathematics/AnalyticalZMPCOGTrajectory.hh>

List of all members.

Public Member Functions
	AnalyticalZMPCOGTrajectory (int lNbOfIntervals=0)
	~AnalyticalZMPCOGTrajectory ()
bool	ComputeCOM (double t, double &r)
bool	ComputeCOMSpeed (double t, double &r)
bool	ComputeCOM (double t, double &r, int i)
bool	ComputeCOMSpeed (double t, double &r, int i)
bool	ComputeZMP (double t, double &r)
bool	ComputeZMPSpeed (double t, double &r)
bool	ComputeZMP (double t, double &r, int i)
double	FluctuationMaximal ()
	Returns the maximal fluctuation for the first segment of this trajectory.
double	GetAbsoluteTimeReference () const
	Absolute Time reference of this trajectory.
void	SetAbsoluteTimeReference (double anAbsoluteTimeReference)
	Set Absolute time reference of this trajectory.
bool	GetIntervalIndexFromTime (double t, unsigned int &j)
	Get the index of the interval according to the time.
bool	GetIntervalIndexFromTime (double t, unsigned int &j, unsigned int &prev_j)
	Get the index of the interval according to the time, and the previous value of the interval.
Setter and Getter@{
void	SetNumberOfIntervals (unsigned int lNbOfIntervals)
	Set the number of Intervals for this trajectory.
void	SetCoGHyperbolicCoefficients (std::vector< double > &lV, std::vector< double > &lW)
	Set the coefficients for the sinuse and cosinues function.
void	SetStartingTimeIntervalsAndHeightVariation (std::vector< double > &lDeltaTj, std::vector< double > &lomegaj)
	Set the starting point and the height variation.
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 the number of intervals.
void	GetPolynomialDegrees (std::vector< unsigned int > &lPolynomialDegree) const
	Get the degree of each polynomials for the CoG.
void	GetNumberOfIntervals (unsigned int &lNbOfIntervals) const
	Set the number of Intervals for this trajectory.
void	GetHyperbolicCoefficients (std::vector< double > &lV, std::vector< double > &lW) const
	Get the coefficients for the sinuse and cosinues function.
void	GetStartingPointAndHeightVariation (std::vector< double > &lTj, std::vector< double > &lomegaj)
	Get the starting point and the height variation.
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 SetPolynomialDegree has been call beforehand.
bool	GetFromListOfZMPPolynomials (unsigned int j, Polynome *&aPoly) const
void	TransfertCoefficientsFromCOGTrajectoryToZMPOne (std::vector< double > &lCOMZ, std::vector< double > &lZMPZ)
	Transfert the coefficients from the COG trajectory to the ZMP for all intervals.
void	TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne (unsigned int IntervalIndex, double &lCOMZ, double &lZMPZ)
	Transfert the coefficients from the COG trajectory to the ZMP.
void	Building3rdOrderPolynomial (unsigned int anIntervalj, double pjTjm1, double pjTj)
Protected Member Functions
void	FreePolynomes ()
Protected Attributes
int	m_NbOfIntervals
std::vector< double >	m_V
std::vector< double >	m_W
std::vector< double >	m_DeltaTj
std::vector< double >	m_omegaj
std::vector< double >	m_RefTime
std::vector< unsigned int >	m_PolynomialDegree
std::vector< Polynome * >	m_ListOfCOGPolynomials
std::vector< Polynome * >	m_ListOfZMPPolynomials
double	m_AbsoluteTimeReference
double	m_Sensitivity
Friends
std::ostream &	operator<< (std::ostream &os, const AnalyticalZMPCOGTrajectory &obj)

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Detailed Description

AnalyticalZMPCOGTrajectory represents the ZMP and the COG trajectories based on the following formula:

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Constructor & Destructor Documentation

PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::AnalyticalZMPCOGTrajectory

(

int

lNbOfIntervals = 0

)

Constructor

PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::~AnalyticalZMPCOGTrajectory

(

)

Destructor

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Member Function Documentation

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::Building3rdOrderPolynomial	(	unsigned int	anIntervalj,
		double	pjTjm1,
		double	pjTj
	)

Build the coefficients of a third order COG polynomial according to the OmegaC and the value of the ZMP at the beginning and the end of the interval, and assuming that the speed is set to zero.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM	(	double	t,
		double &	r
	)

Compute the current value according to time.

Parameters:

t,:	the time,
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOM	(	double	t,
		double &	r,
		int	i
	)

Compute the current value according to time and the index of the interval. To be efficient this method does not have any boundary check.

Parameters:

t,:	the time,
i,:	the numero of the interval
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed	(	double	t,
		double &	r
	)

Compute the current CoM speed value according to time.

Parameters:

t,:	the time,
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeCOMSpeed	(	double	t,
		double &	r,
		int	i
	)

Compute the current speed according to time and the index of the interval. To be efficient this method does not have any boundary check.

Parameters:

t,:	the time,
i,:	the numero of the interval
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP	(	double	t,
		double &	r
	)

Compute the current value according to time.

Parameters:

t,:	the time,
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMP	(	double	t,
		double &	r,
		int	i
	)

Compute the current value according to time.

Parameters:

t,:	the time,
i,:	the numero of the interval
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::ComputeZMPSpeed	(	double	t,
		double &	r
	)

Compute the current ZMP speed value according to time.

Parameters:

t,:	the time,
r,:	the result,

Returns:

Returns true if the function has been computed, false otherwise.

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FluctuationMaximal

(

)

Returns the maximal fluctuation for the first segment of this trajectory.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::FreePolynomes

(

)

[protected]

Intern method to free the polynomials

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetAbsoluteTimeReference

(

)

const [inline]

Absolute Time reference of this trajectory.

References m_AbsoluteTimeReference.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::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 SetPolynomialDegree has been call beforehand.

Referenced by PatternGeneratorJRL::operator<<().

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetFromListOfZMPPolynomials	(	unsigned int	j,
		Polynome *&	aPoly
	)		const

Get the polynomial at interval j for the ZMP Remark: The call to this function assume that the method SetPolynomialDegree has been call beforehand.

Referenced by PatternGeneratorJRL::operator<<().

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetHyperbolicCoefficients	(	std::vector< double > &	lV,
		std::vector< double > &	lW
	)		const

Get the coefficients for the sinuse and cosinues function.

Referenced by PatternGeneratorJRL::operator<<().

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime	(	double	t,
		unsigned int &	j
	)

Get the index of the interval according to the time.

bool PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetIntervalIndexFromTime	(	double	t,
		unsigned int &	j,
		unsigned int &	prev_j
	)

Get the index of the interval according to the time, and the previous value of the interval.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetNumberOfIntervals

(

unsigned int &

lNbOfIntervals

)

const

Set the number of Intervals for this trajectory.

Referenced by PatternGeneratorJRL::operator<<().

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetPolynomialDegrees

(

std::vector< unsigned int > &

lPolynomialDegree

)

const

Get the degree of each polynomials for the CoG.

Referenced by PatternGeneratorJRL::operator<<().

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::GetStartingPointAndHeightVariation	(	std::vector< double > &	lTj,
		std::vector< double > &	lomegaj
	)

Get the starting point and the height variation.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetAbsoluteTimeReference

(

double

anAbsoluteTimeReference

)

[inline]

Set Absolute time reference of this trajectory.

References m_AbsoluteTimeReference.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetCoGHyperbolicCoefficients	(	std::vector< double > &	lV,
		std::vector< double > &	lW
	)

Set the coefficients for the sinuse and cosinues function.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetNumberOfIntervals

(

unsigned int

lNbOfIntervals

)

Set the number of Intervals for this trajectory.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::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 the number of intervals.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::SetStartingTimeIntervalsAndHeightVariation	(	std::vector< double > &	lDeltaTj,
		std::vector< double > &	lomegaj
	)

Set the starting point and the height variation.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertCoefficientsFromCOGTrajectoryToZMPOne	(	std::vector< double > &	lCOMZ,
		std::vector< double > &	lZMPZ
	)

Transfert the coefficients from the COG trajectory to the ZMP for all intervals.

Parameters:

lCOMZ,:	Profile of the height CoM for each interval.
lZMPZ,:	Profile of the height ZMP for each interval.

void PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne	(	unsigned int	IntervalIndex,
		double &	lCOMZ,
		double &	lZMPZ
	)

Transfert the coefficients from the COG trajectory to the ZMP.

Parameters:

IntervalIndex,:	Number of the interval.
lCOMZ,:	Value of the CoM height for this interval.
lZMPZ,:	Value of the ZMP height for this interval.

References PatternGeneratorJRL::Polynome::GetCoefficients().

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Friends And Related Function Documentation

std::ostream& operator<<	(	std::ostream &	os,
		const AnalyticalZMPCOGTrajectory &	obj
	)		[friend]

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Member Data Documentation

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_AbsoluteTimeReference [protected]

Store the absolute time reference

Referenced by GetAbsoluteTimeReference(), and SetAbsoluteTimeReference().

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_DeltaTj [protected]

List of temporal starting point.

std::vector<Polynome *> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfCOGPolynomials [protected]

List of polynomials for the COG

std::vector<Polynome *> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_ListOfZMPPolynomials [protected]

List of polynomials for the ZMP

int PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_NbOfIntervals [protected]

Number of intervals

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_omegaj [protected]

List of omega, i.e. height variation along the trajectory.

std::vector<unsigned int> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_PolynomialDegree [protected]

List of polynomial degrees for the CoM

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_RefTime [protected]

List of reference time for the interval.

double PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_Sensitivity [protected]

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_V [protected]

List of coefficients for the hyperbolics cosine function

std::vector<double> PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::m_W [protected]

List of coefficients for the hyperbolics sine function