utils::QuinticHermitePolynomial< T > Struct Template Reference
#include <lipm_walking/utils/polynomials.h>
Inheritance diagram for utils::QuinticHermitePolynomial< T >:
Public Member Functions | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW | QuinticHermitePolynomial () |
| QuinticHermitePolynomial (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel) | |
| void | reset (const T &initPos, const T &initVel, const T &initAccel, const T &targetPos, const T &targetVel, const T &targetAccel) |
| void | reset (const T &initPos, const T &initVel, const T &targetPos, const T &targetVel) |
| void | reset (const T &initPos, const T &targetPos) |
| void | reset () |
 Public Member Functions inherited from utils::QuinticPolynomial< T > | |
| EIGEN_MAKE_ALIGNED_OPERATOR_NEW T | zero () |
| QuinticPolynomial () | |
| 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) |
| 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 | 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
◆ QuinticHermitePolynomial() [1/2]
template<typename T >
|
inline |
Empty constructor.
Definition at line 539 of file polynomials.h.
◆ QuinticHermitePolynomial() [2/2]
template<typename T >
|
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
◆ reset() [1/4]
template<typename T >
|
inline |
Reset underlying cubic polynomial coefficients.
Definition at line 634 of file polynomials.h.
◆ reset() [2/4]
template<typename T >
|
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.
◆ reset() [3/4]
template<typename T >
|
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.
◆ reset() [4/4]
template<typename T >
|
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.
Member Data Documentation
◆ initAccel_
template<typename T >
|
protected |
Definition at line 651 of file polynomials.h.
◆ initPos_
template<typename T >
|
protected |
Definition at line 649 of file polynomials.h.
◆ initVel_
template<typename T >
|
protected |
Definition at line 650 of file polynomials.h.
◆ targetAccel_
template<typename T >
|
protected |
Definition at line 654 of file polynomials.h.
◆ targetPos_
template<typename T >
|
protected |
Definition at line 652 of file polynomials.h.
◆ targetVel_
template<typename T >
|
protected |
Definition at line 653 of file polynomials.h.
The documentation for this struct was generated from the following file:
- include/lipm_walking/utils/polynomials.h
