PatternGeneratorJRL::StepOverPolynomeFoot Class Reference

Polynome used for Z trajectory during stepover. More...

#include <Mathematics/StepOverPolynome.hh>

Inheritance diagram for PatternGeneratorJRL::StepOverPolynomeFoot:

List of all members.

Public Member Functions
	StepOverPolynomeFoot ()
void	SetParameters (MAL_VECTOR(boundCond, double), std::vector< double > timeDistr)
	~StepOverPolynomeFoot ()

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Detailed Description

Polynome used for Z trajectory during stepover.

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Constructor & Destructor Documentation

StepOverPolynomeFoot::StepOverPolynomeFoot

(

)

Constructor: boundCond: the different boundary conditions begin, intermediate and end of polynomial timeDistr: vector with time instants for intermediate boundary conditions and end time

StepOverPolynomeFoot::~StepOverPolynomeFoot

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Destructor.

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Member Function Documentation

void StepOverPolynomeFoot::SetParameters	(	MAL_VECTOR(boundCond, double)	,
		std::vector< double >	timeDistr
	)

Set the parameters

References PatternGeneratorJRL::Polynome::m_Coefficients, MAL_MATRIX_DIM, MAL_MATRIX_NB_ROWS, MAL_MATRIX_RET_DETERMINANT, and MAL_VECTOR.