utils::QuinticHermitePolynomial< T > Struct Template Reference

Quintic polynomial with zero velocity and zero acceleration at 0 and 1. More...

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::QuinticHermitePolynomial< T >:

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	QuinticHermitePolynomial ()
	Empty constructor. More...
	QuinticHermitePolynomial (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 &initAccel, const T &targetPos, const T &targetVel, const T &targetAccel)
	Reset boundary values. More...
void	reset (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel)
	Reset boundaries with zero boundary velocities. More...
void	reset (const T &initPos, const T &targetPos)
	Reset boundaries with zero tangents. More...
void	reset ()
	Reset underlying cubic polynomial coefficients. More...
Public Member Functions inherited from utils::QuinticPolynomial< T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW T	zero ()
	Return T's zero. More...
	QuinticPolynomial ()
	Empty constructor. More...
Public Member Functions inherited from utils::QuinticPolynomialBase< T >
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	QuinticPolynomialBase (const T &C0, const T &C1, const T &C2, const T &C3, const T &C4, const T &C5)
	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	initAccel_
T	targetPos_
T	targetVel_
T	targetAccel_
Protected Attributes inherited from utils::QuinticPolynomialBase< T >
T	C0_
T	C1_
T	C2_
T	C3_
T	C4_
T	C5_

Detailed Description

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

Quintic polynomial with zero velocity and zero acceleration at 0 and 1.

Definition at line 532 of file polynomials.h.

Constructor & Destructor Documentation

template<typename T>

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

inline

Empty constructor.

Definition at line 539 of file polynomials.h.

template<typename T>

utils::QuinticHermitePolynomial< T >::QuinticHermitePolynomial ( 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 555 of file polynomials.h.

Member Function Documentation

template<typename T>

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

inline

Reset boundary values.

Parameters

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

Definition at line 575 of file polynomials.h.

template<typename T>

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

inline

Reset boundaries with zero boundary velocities.

Parameters

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

Definition at line 602 of file polynomials.h.

template<typename T>

void utils::QuinticHermitePolynomial< 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 620 of file polynomials.h.

template<typename T>

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

inline

Reset underlying cubic polynomial coefficients.

Definition at line 634 of file polynomials.h.

Member Data Documentation

template<typename T>

T utils::QuinticHermitePolynomial< T >::initAccel_

protected

Definition at line 651 of file polynomials.h.

template<typename T>

T utils::QuinticHermitePolynomial< T >::initPos_

protected

Definition at line 649 of file polynomials.h.

template<typename T>

T utils::QuinticHermitePolynomial< T >::initVel_

protected

Definition at line 650 of file polynomials.h.

template<typename T>

T utils::QuinticHermitePolynomial< T >::targetAccel_

protected

Definition at line 654 of file polynomials.h.

template<typename T>

T utils::QuinticHermitePolynomial< T >::targetPos_

protected

Definition at line 652 of file polynomials.h.

template<typename T>

T utils::QuinticHermitePolynomial< T >::targetVel_

protected

Definition at line 653 of file polynomials.h.