#include <lipm_walking/utils/polynomials.h>
Public Member Functions | |
| void | reset () override |
| double | extraInitVelScaling () |
| void | extraInitVelScaling (double scaling) |
| double | extraTargetVelScaling () |
| void | extraTargetVelScaling (double scaling) |
 Public Member Functions inherited from utils::CubicHermitePolynomial< T > | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | CubicHermitePolynomial () |
| CubicHermitePolynomial (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel) | |
| void | reset (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel) |
| void | reset (const T &initPos, const T &targetPos) |
| Public Member Functions inherited from utils::CubicPolynomial< T > | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW T | zero () |
| CubicPolynomial () | |
| 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) |
| 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 | |
| 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
◆ extraInitVelScaling() [1/2]
|
inline |
Get extra initial velocity scaling.
Definition at line 383 of file polynomials.h.
◆ extraInitVelScaling() [2/2]
|
inline |
Add extra initial velocity scaling to the HOUBA one.
Definition at line 391 of file polynomials.h.
◆ extraTargetVelScaling() [1/2]
|
inline |
Get extra target velocity scaling.
Definition at line 399 of file polynomials.h.
◆ extraTargetVelScaling() [2/2]
|
inline |
Add extra target velocity scaling to the HOUBA one.
Definition at line 407 of file polynomials.h.
◆ 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
◆ extraInitVelScaling_
|
protected |
Definition at line 413 of file polynomials.h.
◆ extraTargetVelScaling_
|
protected |
Definition at line 414 of file polynomials.h.
The documentation for this struct was generated from the following file:
- include/lipm_walking/utils/polynomials.h
