PatternGeneratorJRL::Polynome4 Class Reference

Polynome used for Z trajectory. More...

#include <Mathematics/PolynomeFoot.hh>

Inheritance diagram for PatternGeneratorJRL::Polynome4:

List of all members.

Public Member Functions
	Polynome4 (double FT, double MP)
	Constructor: FT: Final time MP: Middle position.
void	SetParameters (double FT, double MP)
	Set the parameters.
void	SetParametersWithInitPosInitSpeed (double FT, double MP, double InitPos, double InitSpeed)
void	GetParametersWithInitPosInitSpeed (double &FT, double &MP, double &InitPos, double &InitSpeed)
	~Polynome4 ()
	Destructor.

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Detailed Description

Polynome used for Z trajectory.

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Constructor & Destructor Documentation

Polynome4::Polynome4	(	double	FT,
		double	MP
	)

Constructor: FT: Final time MP: Middle position.

References SetParameters().

Polynome4::~Polynome4

(

)

Destructor.

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Member Function Documentation

void Polynome4::GetParametersWithInitPosInitSpeed	(	double &	FT,
		double &	MP,
		double &	InitPos,
		double &	InitSpeed
	)

Get the parameters

References PatternGeneratorJRL::Polynome::m_Coefficients.

void Polynome4::SetParameters	(	double	FT,
		double	MP
	)

Set the parameters.

References PatternGeneratorJRL::Polynome::m_Coefficients.

Referenced by Polynome4().

void Polynome4::SetParametersWithInitPosInitSpeed	(	double	FT,
		double	MP,
		double	InitPos,
		double	InitSpeed
	)

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

References PatternGeneratorJRL::Polynome::m_Coefficients.