Fast Research Interface Library: TypeIRMLMath::TypeIRMLPolynomial Class Reference

Fast Research Interface Library Manual and Documentation

This class realizes polynomials of degree three as required for the Type I On-Line Trajectory Generator. More...

#include <TypeIRMLPolynomial.h>

List of all members.

Public Member Functions
	TypeIRMLPolynomial (void)
	Constructor of the class TypeIRMLPolynomial.
	~TypeIRMLPolynomial (void)
	Destructor of the class TypeIRMLPolynomial.
void	SetCoefficients (const double &Coeff2, const double &Coeff1, const double &Coeff0, const double &Diff)
	Sets the coefficients for the polynomial of degree two.
double	CalculateValue (const double &t) const
	Calculates the function value of f(t) at t.
Private Attributes
unsigned int	Degree
double	a2
double	a1
double	a0
double	DeltaT

Detailed Description

This class realizes polynomials of degree three as required for the Type I On-Line Trajectory Generator.

See also:: struct MotionPolynomials

Definition at line 85 of file TypeIRMLPolynomial.h.

Constructor & Destructor Documentation

TypeIRMLMath::TypeIRMLPolynomial::TypeIRMLPolynomial ( void )

Constructor of the class TypeIRMLPolynomial.

Definition at line 62 of file TypeIRMLPolynomial.cpp.

TypeIRMLMath::TypeIRMLPolynomial::~TypeIRMLPolynomial ( void )

Destructor of the class TypeIRMLPolynomial.

Definition at line 75 of file TypeIRMLPolynomial.cpp.

Member Function Documentation

double TypeIRMLMath::TypeIRMLPolynomial::CalculateValue ( const double & t ) const

Calculates the function value of f(t) at t.

$f(t) = a_2\,\cdot\,(t - \Delta T)^2 + a_1\,\cdot\,(t - \Delta T) + a_0$

Parameters:

t	Function input value

Returns:: The function value at ,

Definition at line 114 of file TypeIRMLPolynomial.cpp.

void TypeIRMLMath::TypeIRMLPolynomial::SetCoefficients	(	const double &	Coeff2,
		const double &	Coeff1,
		const double &	Coeff0,
		const double &	Diff
	)

Sets the coefficients for the polynomial of degree two.

$f(t) = a_2\,\cdot\,(t - \Delta T)^2 + a_1\,\cdot\,(t - \Delta T) + a_0$

Parameters:

Coeff2	$\ \Longrightarrow \ a_2$
Coeff1	$\ \Longrightarrow \ a_1$
Coeff0	$\ \Longrightarrow \ a_0$
Diff	$\ \Longrightarrow \ \Delta T$ .

Definition at line 83 of file TypeIRMLPolynomial.cpp.

Member Data Documentation

double TypeIRMLMath::TypeIRMLPolynomial::a0 [private]

Definition at line 158 of file TypeIRMLPolynomial.h.

double TypeIRMLMath::TypeIRMLPolynomial::a1 [private]

Definition at line 158 of file TypeIRMLPolynomial.h.

double TypeIRMLMath::TypeIRMLPolynomial::a2 [private]

Definition at line 158 of file TypeIRMLPolynomial.h.

unsigned int TypeIRMLMath::TypeIRMLPolynomial::Degree [private]

Definition at line 155 of file TypeIRMLPolynomial.h.

double TypeIRMLMath::TypeIRMLPolynomial::DeltaT [private]

Definition at line 158 of file TypeIRMLPolynomial.h.

The documentation for this class was generated from the following files:

include/TypeIRMLPolynomial.h
src/TypeIRML/TypeIRMLPolynomial.cpp

This document was generated with Doxygen on Thu Apr 12 2012 11:18:55. User documentation of the Fast Research Interface Library for the KUKA Lightweight Robot IV by the Stanford Robotics Research Group. Copyright 2010–2012.