PatternGeneratorJRL::Polynome3 Class Reference

Polynome used for X,Y and Theta trajectories. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome3:

List of all members.

Public Member Functions
	Polynome3 (double FT, double FP)
	Constructor: FT: Final time FP: Final position.
void	SetParameters (double FT, double FP)
void	SetParametersWithInitPosInitSpeed (double FT, double FP, double InitPos, double InitSpeed)
void	GetParametersWithInitPosInitSpeed (double &FT, double &FP, double &InitPos, double &InitSpeed)
	~Polynome3 ()
	Destructor.

---

Detailed Description

Polynome used for X,Y and Theta trajectories.

---

Constructor & Destructor Documentation

Polynome3::Polynome3	(	double	FT,
		double	FP
	)

Constructor: FT: Final time FP: Final position.

References SetParameters().

Polynome3::~Polynome3

(

)

Destructor.

---

Member Function Documentation

void Polynome3::GetParametersWithInitPosInitSpeed	(	double &	FT,
		double &	FP,
		double &	InitPos,
		double &	InitSpeed
	)

References PatternGeneratorJRL::Polynome::m_Coefficients.

void Polynome3::SetParameters	(	double	FT,
		double	FP
	)

Set the parameters This method assumes implictly a position set to zero, and a speed equals to zero.

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome3().

void Polynome3::SetParametersWithInitPosInitSpeed	(	double	FT,
		double	FP,
		double	InitPos,
		double	InitSpeed
	)

Set the parameters such that the initial position, and initial speed are different from zero.

References PatternGeneratorJRL::Polynome::m_Coefficients.