PatternGeneratorJRL::Polynome Class Reference

Class for computing trajectories. More...

#include <Mathematics/Polynome.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome:

List of all members.

Public Member Functions
	Polynome (int Degree)
	~Polynome ()
double	Compute (double t)
double	ComputeDerivative (double t)
void	GetCoefficients (std::vector< double > &lCoefficients) const
void	SetCoefficients (std::vector< double > &lCoefficients)
void	print ()
Protected Attributes
int	m_Degree
	Degree of the polynome.
std::vector< double >	m_Coefficients
	Vector of coefficients.

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Detailed Description

Class for computing trajectories.

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Constructor & Destructor Documentation

Polynome::Polynome

(

int

Degree

)

Constructor

Polynome::~Polynome

(

)

Destructor

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Member Function Documentation

double Polynome::Compute

(

double

t

)

Compute the value.

double Polynome::ComputeDerivative

(

double

t

)

Compute the value of the derivative.

void Polynome::GetCoefficients

(

std::vector< double > &

lCoefficients

)

const

Get the coefficients.

Referenced by PatternGeneratorJRL::operator<<(), and PatternGeneratorJRL::AnalyticalZMPCOGTrajectory::TransfertOneIntervalCoefficientsFromCOGTrajectoryToZMPOne().

void Polynome::print

(

)

Print the coefficient.

void Polynome::SetCoefficients

(

std::vector< double > &

lCoefficients

)

Set the coefficients.

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Member Data Documentation

std::vector<double> PatternGeneratorJRL::Polynome::m_Coefficients [protected]

Vector of coefficients.

Referenced by PatternGeneratorJRL::Polynome3::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::Polynome4::GetParametersWithInitPosInitSpeed(), PatternGeneratorJRL::StepOverPolynomeFoot::SetParameters(), PatternGeneratorJRL::Polynome3::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootZtoX::SetParameters(), PatternGeneratorJRL::Polynome4::SetParameters(), PatternGeneratorJRL::StepOverPolynomeFootXtoTime::SetParameters(), PatternGeneratorJRL::StepOverPolynomeHip4::SetParameters(), PatternGeneratorJRL::Polynome5::SetParameters(), PatternGeneratorJRL::Polynome6::SetParameters(), PatternGeneratorJRL::Polynome3::SetParametersWithInitPosInitSpeed(), and PatternGeneratorJRL::Polynome4::SetParametersWithInitPosInitSpeed().

int PatternGeneratorJRL::Polynome::m_Degree [protected]

Degree of the polynome.