Polynomial struct
#include <BipedalLocomotion/Math/Spline.h>
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::
Get the position (value) of the polynomial.
| Parameters | |
|---|---|
| t | instant time. |
| position | position of the polynomial. |
void BipedalLocomotion::
Get the velocity (1st derivative) of the polynomial.
| Parameters | |
|---|---|
| t | instant time. |
| velocity | velocity of the polynomial. |
void BipedalLocomotion::
Get the acceleration (2nd derivative) of the polynomial.
| Parameters | |
|---|---|
| t | instant time. |
| acceleration | acceleration of the polynomial. |