utils::RetimedPolynomial< Polynomial, T > Struct Template Reference

Polynomial whose argument \(s \in [0, 1]\) is retimed to \(t \in [0, T]\) by \( s(t) = t / T \). More...

#include <lipm_walking/utils/polynomials.h>

Public Member Functions
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	RetimedPolynomial ()
	Empty constructor. More...
	RetimedPolynomial (Polynomial< T > poly, double duration)
	Constructor. More...
double	duration () const
	Get trajectory duration. More...
void	reset (const T &initPos, const T &targetPos, double duration)
	Reset duration and boundary positions. More...
void	reset (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel, double duration)
	Reset duration and boundary positions and velocities. More...
void	reset (const T &initPos, const T &initVel, const T &initAccel, const T &targetPos, const T &targetVel, const T &targetAccel, double duration)
	Reset duration and boundary positions, velocities and accelerations. More...
double	s (double t) const
	Mapping from \(t \in [0, T]\) to \(s(t) \in [0, 1]\). More...
double	sd (double t) const
	Mapping from \(t \in [0, T]\) to \(\dot{s}(t) = \frac{{\rm d}(s(t))}{{\rm d}t}\). More...
T	pos (double t) const
	Position along the retimed trajectory. More...
T	vel (double t) const
	Velocity along the retimed trajectory. More...
T	accel (double t) const
	Acceleration along the retimed trajectory. More...

Protected Attributes
double	duration_
Polynomial< T >	poly_

Detailed Description

template<template< class > class Polynomial, typename T>
struct utils::RetimedPolynomial< Polynomial, T >

Polynomial whose argument \(s \in [0, 1]\) is retimed to \(t \in [0, T]\) by \( s(t) = t / T \).

Definition at line 662 of file polynomials.h.

Constructor & Destructor Documentation

template<template< class > class Polynomial, typename T>

EIGEN_MAKE_ALIGNED_OPERATOR_NEW utils::RetimedPolynomial< Polynomial, T >::RetimedPolynomial ( )

inline

Empty constructor.

Definition at line 669 of file polynomials.h.

template<template< class > class Polynomial, typename T>

utils::RetimedPolynomial< Polynomial, T >::RetimedPolynomial ( Polynomial< T >  poly, double  duration  )

inline

Constructor.

Parameters

poly	Polynomial whose argument \(s \in [0, 1]\).
duration	New duration T of the retiming \(t \in [0, T]\).

Definition at line 678 of file polynomials.h.

Member Function Documentation

template<template< class > class Polynomial, typename T>

T utils::RetimedPolynomial< Polynomial, T >::accel ( double  t ) const

inline

Acceleration along the retimed trajectory.

Parameters

t	Time \(t \in [0, T]\).

Definition at line 795 of file polynomials.h.

template<template< class > class Polynomial, typename T>

double utils::RetimedPolynomial< Polynomial, T >::duration ( ) const

inline

Get trajectory duration.

Definition at line 683 of file polynomials.h.

template<template< class > class Polynomial, typename T>

T utils::RetimedPolynomial< Polynomial, T >::pos ( double  t ) const

inline

Position along the retimed trajectory.

Parameters

t	Time \(t \in [0, T]\).

Definition at line 775 of file polynomials.h.

template<template< class > class Polynomial, typename T>

void utils::RetimedPolynomial< Polynomial, T >::reset ( const T &  initPos, const T &  targetPos, double  duration  )

inline

Reset duration and boundary positions.

Parameters

initPos	Initial position.
targetPos	Target position.
duration	New duration T of the trajectory.

Definition at line 697 of file polynomials.h.

template<template< class > class Polynomial, typename T>

void utils::RetimedPolynomial< Polynomial, T >::reset ( const T &  initPos, const T &  initVel, const T &  targetPos, const T &  targetVel, double  duration  )

inline

Reset duration and boundary positions and velocities.

Parameters

initPos	Initial position.
initVel	Initial velocity.
targetPos	Target position.
targetVel	Target velocity.
duration	New duration T of the trajectory.

Definition at line 716 of file polynomials.h.

template<template< class > class Polynomial, typename T>

void utils::RetimedPolynomial< Polynomial, T >::reset ( const T &  initPos, const T &  initVel, const T &  initAccel, const T &  targetPos, const T &  targetVel, const T &  targetAccel, double  duration  )

inline

Reset duration and boundary positions, velocities and accelerations.

Parameters

initPos	Initial position.
initVel	Initial velocity.
initAccel	Initial acceleration.
targetPos	Target position.
targetVel	Target velocity.
targetAccel	Target acceleration.
duration	New duration T of the trajectory.

Definition at line 739 of file polynomials.h.

template<template< class > class Polynomial, typename T>

double utils::RetimedPolynomial< Polynomial, T >::s ( double  t ) const

inline

Mapping from \(t \in [0, T]\) to \(s(t) \in [0, 1]\).

Definition at line 756 of file polynomials.h.

template<template< class > class Polynomial, typename T>

double utils::RetimedPolynomial< Polynomial, T >::sd ( double  t ) const

inline

Mapping from \(t \in [0, T]\) to \(\dot{s}(t) = \frac{{\rm d}(s(t))}{{\rm d}t}\).

Definition at line 765 of file polynomials.h.

template<template< class > class Polynomial, typename T>

T utils::RetimedPolynomial< Polynomial, T >::vel ( double  t ) const

inline

Velocity along the retimed trajectory.

Parameters

t	Time t \(\in [0, T]\).

Definition at line 785 of file polynomials.h.

Member Data Documentation

template<template< class > class Polynomial, typename T>

double utils::RetimedPolynomial< Polynomial, T >::duration_

protected

Definition at line 801 of file polynomials.h.

template<template< class > class Polynomial, typename T>

Polynomial<T> utils::RetimedPolynomial< Polynomial, T >::poly_

protected

Definition at line 802 of file polynomials.h.