File polynome.hpp¶

Polynomes object for trajectories.

Author: Maximilien Naveau (maximilien.naveau@gmail.com)
Version: 0.1
Date: 2019-11-06
Copyright: Copyright (c) 2019

namespace blmc_drivers

This namespace is the standard namespace of the package.

template<int ORDER> class Polynome

#include <polynome.hpp>

Simple class that defines \( P(x) \) a polynome of order ORDER.

It provide simple methods to compute \( P(x) \), \( \frac{dP}{dx}(x) \), and \( \frac{dP^2}{dx^2}(x) \)

Template Parameters: ORDER – is the order of the polynome

Subclassed by blmc_drivers::TimePolynome< ORDER >

Public Functions

Polynome()

Polynome<ORDER> definitions.

Constructor

~Polynome(): Destructor

double compute(double x): Compute the value.

double compute_derivative(double x): Compute the value of the derivative.

double compute_sec_derivative(double x): Compute the value of the second derivative.

void get_coefficients(Coefficients &coefficients) const: Get the coefficients.

void set_coefficients(const Coefficients &coefficients): Set the coefficients.

inline int degree()

void print() const: Print the coefficient.

Protected Attributes

std::array<double, ORDER + 1> coefficients_¶: Vector of coefficients.

Private Types

typedef std::array<double, ORDER> Coefficients: Type of the container for the poynome coefficients

template<int ORDER> class TimePolynome : public blmc_drivers::Polynome<ORDER>

#include <polynome.hpp>

Simple class that defines \( P(t) \) a polynome of order ORDER.

With \( t \) being the time in any units. It provide simple methods to compute safely \( P(time) \), \( \frac{dP}{dt}(t) \), and \( \frac{dP^2}{dt^2}(t) \)

Template Parameters: ORDER –

Public Functions

inline TimePolynome(): Constructor

inline ~TimePolynome(): Destructor

double compute(double t)

TimePolynome<ORDER> definitions.

Compute the value.

double compute_derivative(double t): Compute the value of the derivative.

double compute_sec_derivative(double t): Compute the value of the second derivative.

inline double get_final_time() const

inline double get_init_pose() const

inline double get_init_speed() const

inline double get_init_acc() const

inline double get_final_pose() const

inline double get_final_speed() const

inline double get_final_acc() const

void set_parameters(double final_time, double init_pose, double init_speed, double final_pose)

Computes a polynome trajectory according to the following constraints:

\[\begin{split}\begin{eqnarray*} P(0) &=& init_pose \\ P(0) &=& init_speed = 0 \\ P(0) &=& init_acc = 0 \\ P(final_time_) &=& final_pose \\ P(final_time_) &=& final_speed = 0 \\ P(final_time_) &=& final_acc = 0 \end{eqnarray*}\end{split}\]

Parameters

final_time – is used in the constraints.
init_pose – is used in the constraints.
init_speed – is used in the constraints.
final_pose – is used in the constraints.

Protected Attributes

double final_time_¶: store the inputs for later access

double init_pose_¶: store the inputs for later access

double init_speed_¶: store the inputs for later access

double init_acc_¶: store the inputs for later access

double final_pose_¶: store the inputs for later access

double final_speed_¶: store the inputs for later access

double final_acc_¶: store the inputs for later access