utils::HoubaPolynomial< T > Struct Template Reference

Hermite polynomial with Overall Uniformly-Bounded Accelerations (HOUBA). More...

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::HoubaPolynomial< T >:

Public Member Functions
void	reset () override
	Rescale boundary velocities, then reset as Hermite polynomial. More...
double	extraInitVelScaling ()
	Get extra initial velocity scaling. More...
void	extraInitVelScaling (double scaling)
	Add extra initial velocity scaling to the HOUBA one. More...
double	extraTargetVelScaling ()
	Get extra target velocity scaling. More...
void	extraTargetVelScaling (double scaling)
	Add extra target velocity scaling to the HOUBA one. More...
Public Member Functions inherited from utils::CubicHermitePolynomial< T >
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...
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
double	extraInitVelScaling_ = 1.0
double	extraTargetVelScaling_ = 1.0
Protected Attributes inherited from utils::CubicHermitePolynomial< T >
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::HoubaPolynomial< T >

Hermite polynomial with Overall Uniformly-Bounded Accelerations (HOUBA).

Note

See https://hal.archives-ouvertes.fr/hal-01363757/document for details on the definition and derivation of these polynomials.

Definition at line 340 of file polynomials.h.

Member Function Documentation

template<typename T>

double utils::HoubaPolynomial< T >::extraInitVelScaling ( )

inline

Get extra initial velocity scaling.

Definition at line 383 of file polynomials.h.

template<typename T>

void utils::HoubaPolynomial< T >::extraInitVelScaling ( double  scaling )

inline

Add extra initial velocity scaling to the HOUBA one.

Definition at line 391 of file polynomials.h.

template<typename T>

double utils::HoubaPolynomial< T >::extraTargetVelScaling ( )

inline

Get extra target velocity scaling.

Definition at line 399 of file polynomials.h.

template<typename T>

void utils::HoubaPolynomial< T >::extraTargetVelScaling ( double  scaling )

inline

Add extra target velocity scaling to the HOUBA one.

Definition at line 407 of file polynomials.h.

template<typename T>

void utils::HoubaPolynomial< T >::reset ( )

inlineoverridevirtual

Rescale boundary velocities, then reset as Hermite polynomial.

Reimplemented from utils::CubicHermitePolynomial< T >.

Definition at line 353 of file polynomials.h.

Member Data Documentation

template<typename T>

double utils::HoubaPolynomial< T >::extraInitVelScaling_ = 1.0

protected

Definition at line 413 of file polynomials.h.

template<typename T>

double utils::HoubaPolynomial< T >::extraTargetVelScaling_ = 1.0

protected

Definition at line 414 of file polynomials.h.