Public Member Functions | Protected Attributes | List of all members
utils::CubicPolynomialBase< T > Struct Template Reference

#include <lipm_walking/utils/polynomials.h>

Inheritance diagram for utils::CubicPolynomialBase< T >:
utils::PolynomialBase< T > utils::CubicPolynomial< T > utils::CubicHermitePolynomial< T > utils::HoubaPolynomial< Eigen::Vector2d > utils::HoubaPolynomial< T >

Public Member Functions

EIGEN_MAKE_ALIGNED_OPERATOR_NEW CubicPolynomialBase (const T &C0, const T &C1, const T &C2, const T &C3)
 
T pos (double t) const
 
T vel (double t) const
 
T accel (double t) const
 
- Public Member Functions inherited from utils::PolynomialBase< T >
T tangent (double t) const
 
double arcLength (double t_start, double t_end) const
 
double arcLengthInverse (double t_start, double length, double t_guess=-1.) const
 

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

◆ CubicPolynomialBase()

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
C0Zero-order coefficient.
C1First-order coefficient.
C2Second-order coefficient.
C3Third-order coefficient.

Definition at line 170 of file polynomials.h.

Member Function Documentation

◆ accel()

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
tValue of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 197 of file polynomials.h.

◆ pos()

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

Get the value of the polynomial at time t.

Parameters
tValue of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 177 of file polynomials.h.

◆ vel()

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
tValue of the polynomial argument.

Implements utils::PolynomialBase< T >.

Definition at line 187 of file polynomials.h.

Member Data Documentation

◆ C0_

template<typename T >
T utils::CubicPolynomialBase< T >::C0_
protected

Definition at line 203 of file polynomials.h.

◆ C1_

template<typename T >
T utils::CubicPolynomialBase< T >::C1_
protected

Definition at line 204 of file polynomials.h.

◆ C2_

template<typename T >
T utils::CubicPolynomialBase< T >::C2_
protected

Definition at line 205 of file polynomials.h.

◆ C3_

template<typename T >
T utils::CubicPolynomialBase< T >::C3_
protected

Definition at line 206 of file polynomials.h.

The documentation for this struct was generated from the following file: