struct
#include <BipedalLocomotion/Math/Spline.h>
Polynomial Polynomial is a struct that contains the information of a polynomial.
Public functions
- void getPosition(const std::chrono::nanoseconds& t, Eigen::Ref<T> position) const
- Get the position (value) of the polynomial.
- void getVelocity(const std::chrono::nanoseconds& t, Eigen::Ref<T> velocity) const
- Get the velocity (1st derivative) of the polynomial.
- void getAcceleration(const std::chrono::nanoseconds& t, Eigen::Ref<T> acceleration) const
- Get the acceleration (2nd derivative) of the polynomial.
Public variables
- std::chrono::nanoseconds duration
- Duration of the polynomial.
- TrajectoryPoint<T>* initialPoint
- Initial point of the polynomial.
- TrajectoryPoint<T>* finalPoint
- Final point of the polynomial.
- std::vector<T> coefficients
- Coefficients of the polynomial.
Function documentation
void BipedalLocomotion:: Math:: Spline:: Polynomial:: getPosition(const std::chrono::nanoseconds& t,
Eigen::Ref<T> position) const
Get the position (value) of the polynomial.
Parameters | |
---|---|
t | instant time. |
position | position of the polynomial. |
void BipedalLocomotion:: Math:: Spline:: Polynomial:: getVelocity(const std::chrono::nanoseconds& t,
Eigen::Ref<T> velocity) const
Get the velocity (1st derivative) of the polynomial.
Parameters | |
---|---|
t | instant time. |
velocity | velocity of the polynomial. |
void BipedalLocomotion:: Math:: Spline:: Polynomial:: getAcceleration(const std::chrono::nanoseconds& t,
Eigen::Ref<T> acceleration) const
Get the acceleration (2nd derivative) of the polynomial.
Parameters | |
---|---|
t | instant time. |
acceleration | acceleration of the polynomial. |