utils::QuinticPolynomial< T > Struct Template Reference

Quintic polynomial over vectors. More...

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::QuinticPolynomial< T >:

Public Member Functions
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...

Additional Inherited Members
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::QuinticPolynomial< T >

Quintic polynomial over vectors.

Definition at line 488 of file polynomials.h.

Constructor & Destructor Documentation

template<typename T>

utils::QuinticPolynomial< T >::QuinticPolynomial ( )

inline

Empty constructor.

Definition at line 503 of file polynomials.h.

Member Function Documentation

template<typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW T utils::QuinticPolynomial< T >::zero ( )

inline

Return T's zero.

Definition at line 495 of file polynomials.h.