utils::CubicHermitePolynomial< T > Struct Template Reference

Cubic Hermite polynomial. More...

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::CubicHermitePolynomial< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CubicHermitePolynomial ()
	Empty constructor. More...
	CubicHermitePolynomial (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel)
	Build a new cubic Hermite polynomial. More...
void	reset (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel)
	Reset boundaries. More...
void	reset (const T &initPos, const T &targetPos)
	Reset boundaries with zero tangents. More...
virtual void	reset ()
	Reset underlying cubic polynomial coefficients. More...
Public Member Functions inherited from utils::CubicPolynomial< T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW T	zero ()
	Return T's zero. More...
	CubicPolynomial ()
	Empty constructor. More...
Public Member Functions inherited from utils::CubicPolynomialBase< T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	CubicPolynomialBase (const T &C0, const T &C1, const T &C2, const T &C3)
	Build a new curve from its monomial vector coefficients. More...
T	pos (double t) const
	Get the value of the polynomial at time t. More...
T	vel (double t) const
	Get the value of the first-order derivative (velocity) at time t. More...
T	accel (double t) const
	Get the value of the second-order derivative (acceleration) at time t. More...
Public Member Functions inherited from utils::PolynomialBase< T >
T	tangent (double t) const
	Get the value of the tangent vector at time t. More...
double	arcLength (double t_start, double t_end) const
	Compute the arc length between two points of the polynomial curve. More...
double	arcLengthInverse (double t_start, double length, double t_guess=-1.) const
	Inverse of the arc length function. More...

Protected Attributes
T	initPos_
T	initVel_
T	targetPos_
T	targetVel_
Protected Attributes inherited from utils::CubicPolynomialBase< T >
T	C0_
T	C1_
T	C2_
T	C3_

Detailed Description

template<typename T>
struct utils::CubicHermitePolynomial< T >

Cubic Hermite polynomial.

Definition at line 251 of file polynomials.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW utils::CubicHermitePolynomial< T >::CubicHermitePolynomial ( )

inline

Empty constructor.

Definition at line 258 of file polynomials.h.

template<typename T>

utils::CubicHermitePolynomial< T >::CubicHermitePolynomial ( const T &  initPos, const T &  initVel, const T &  targetPos, const T &  targetVel  )

inline

Build a new cubic Hermite polynomial.

Parameters

initPos	Position at t=0.
initVel	Velocity at t=0.
targetPos	Position at t=1.
targetVel	Velocity at t=1.

Definition at line 274 of file polynomials.h.

Member Function Documentation

template<typename T>

void utils::CubicHermitePolynomial< T >::reset ( const T &  initPos, const T &  initVel, const T &  targetPos, const T &  targetVel  )

inline

Reset boundaries.

Parameters

initPos	Initial position.
initVel	Initial tangent vector.
targetPos	Target position.
targetVel	Target tangent vector.

Definition at line 290 of file polynomials.h.

template<typename T>

void utils::CubicHermitePolynomial< T >::reset ( const T &  initPos, const T &  targetPos  )

inline

Reset boundaries with zero tangents.

Parameters

initPos	Position at t=0.
targetPos	Position at t=1.

Definition at line 306 of file polynomials.h.

template<typename T>

virtual void utils::CubicHermitePolynomial< T >::reset ( )

inlinevirtual

Reset underlying cubic polynomial coefficients.

Reimplemented in utils::HoubaPolynomial< T >, and utils::HoubaPolynomial< Eigen::Vector2d >.

Definition at line 318 of file polynomials.h.

Member Data Documentation

template<typename T>

T utils::CubicHermitePolynomial< T >::initPos_

protected

Definition at line 327 of file polynomials.h.

template<typename T>

T utils::CubicHermitePolynomial< T >::initVel_

protected

Definition at line 328 of file polynomials.h.

template<typename T>

T utils::CubicHermitePolynomial< T >::targetPos_

protected

Definition at line 329 of file polynomials.h.

template<typename T>

T utils::CubicHermitePolynomial< T >::targetVel_

protected

Definition at line 330 of file polynomials.h.