ERC CISST - cisst software

robQuintic Class Reference

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List of all members.

Detailed Description

Definition at line 25 of file robQuintic.h.

Public Member Functions

Constructor & Destructor Documentation

robQuintic::robQuintic ( double  t1,
const vctFixedSizeVector< double, 3 > &  y1,
const vctFixedSizeVector< double, 3 > &  y1d,
const vctFixedSizeVector< double, 3 > &  y1dd,
double  t2,
const vctFixedSizeVector< double, 3 > &  y2,
const vctFixedSizeVector< double, 3 > &  y2d,
const vctFixedSizeVector< double, 3 > &  y2dd 
)

Define a 5th order polynomial passing throuh $(t_1,\mathbf{y}_1)$ and $(t_2,\mathbf{y}_2)$.

The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$.

Parameters:
t1 The initial time
y1 The value $\mathbf{y}_1 = Q(t_1)$
y1d The value $\mathbf{y}'_1 = Q(t_1)$
y1dd The value $\mathbf{y}''_1 = Q(t_1)$
t2 The final time
y2 The value $\mathbf{y}_2 = Q(t_2)$
y2d The value $\mathbf{y}'_2 = Q(t_2)$
y2dd The value $\mathbf{y}''_2 = Q(t_2)$

robQuintic::robQuintic ( double  t1,
const vctDynamicVector< double > &  y1,
const vctDynamicVector< double > &  y1d,
const vctDynamicVector< double > &  y1dd,
double  t2,
const vctDynamicVector< double > &  y2,
const vctDynamicVector< double > &  y2d,
const vctDynamicVector< double > &  y2dd 
)

Define a N 5th order polynomials passing throuh $(t_1,{y}_1^i)$ and $(t_2,{y}_2^i)$.

The final time $t_2$ is determined by the maximum velocities. The function is bounded by $[t_1, t_2]$.

Parameters:
t1 The initial time
y1 The value $\mathbf{y}_1 = Q(t_1)$
y1d The value $\mathbf{y}'_1 = Q(t_1)$
y1dd The value $\mathbf{y}''_1 = Q(t_1)$
t2 The final time
y2 The value $\mathbf{y}_2 = Q(t_2)$
y2d The value $\mathbf{y}'_2 = Q(t_2)$
y2dd The value $\mathbf{y}''_2 = Q(t_2)$

The documentation for this class was generated from the following file:
erc-cisst-devel<at>lists.johnshopkins.edu