utils::CubicPolynomialBase< T > Struct Template Reference

Cubic polynomial curve. More...

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::CubicPolynomialBase< T >:

Public Member Functions
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	C0_
T	C1_
T	C2_
T	C3_

Detailed Description

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

Cubic polynomial curve.

Definition at line 155 of file polynomials.h.

Constructor & Destructor Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW utils::CubicPolynomialBase< T >::CubicPolynomialBase ( const T &  C0, const T &  C1, const T &  C2, const T &  C3  )

inline

Build a new curve from its monomial vector coefficients.

Parameters

C0	Zero-order coefficient.
C1	First-order coefficient.
C2	Second-order coefficient.
C3	Third-order coefficient.

Definition at line 170 of file polynomials.h.

Member Function Documentation

template<typename T>

T utils::CubicPolynomialBase< T >::accel ( double  t ) const

inlinevirtual

Get the value of the second-order derivative (acceleration) at time t.

Parameters

t	Value of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 197 of file polynomials.h.

template<typename T>

T utils::CubicPolynomialBase< T >::pos ( double  t ) const

inlinevirtual

Get the value of the polynomial at time t.

Parameters

t	Value of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 177 of file polynomials.h.

template<typename T>

T utils::CubicPolynomialBase< T >::vel ( double  t ) const

inlinevirtual

Get the value of the first-order derivative (velocity) at time t.

Parameters

t	Value of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 187 of file polynomials.h.

Member Data Documentation

template<typename T>

T utils::CubicPolynomialBase< T >::C0_

protected

Definition at line 203 of file polynomials.h.

template<typename T>

T utils::CubicPolynomialBase< T >::C1_

protected

Definition at line 204 of file polynomials.h.

template<typename T>

T utils::CubicPolynomialBase< T >::C2_

protected

Definition at line 205 of file polynomials.h.

template<typename T>

T utils::CubicPolynomialBase< T >::C3_

protected

Definition at line 206 of file polynomials.h.