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Dependencies: ExperimentServer QEI_pmw MotorShield
BezierCurve.h@16:f9ea2b2d410f, 2020-09-24 (annotated)
- Committer:
- saloutos
- Date:
- Thu Sep 24 20:16:05 2020 +0000
- Revision:
- 16:f9ea2b2d410f
2DOF impedance controller template code
Who changed what in which revision?
| User | Revision | Line number | New contents of line |
|---|---|---|---|
| saloutos | 16:f9ea2b2d410f | 1 | class BezierCurve |
| saloutos | 16:f9ea2b2d410f | 2 | { |
| saloutos | 16:f9ea2b2d410f | 3 | public: |
| saloutos | 16:f9ea2b2d410f | 4 | BezierCurve(int dim, int order); |
| saloutos | 16:f9ea2b2d410f | 5 | ~BezierCurve(); |
| saloutos | 16:f9ea2b2d410f | 6 | void setPoints(float pts[]); |
| saloutos | 16:f9ea2b2d410f | 7 | void evaluate(float time, float point[]); |
| saloutos | 16:f9ea2b2d410f | 8 | void evaluateDerivative(float time, float point[]); |
| saloutos | 16:f9ea2b2d410f | 9 | private: |
| saloutos | 16:f9ea2b2d410f | 10 | const int _dim; |
| saloutos | 16:f9ea2b2d410f | 11 | const int _order; |
| saloutos | 16:f9ea2b2d410f | 12 | float ** _pts; |
| saloutos | 16:f9ea2b2d410f | 13 | int * _nck; |
| saloutos | 16:f9ea2b2d410f | 14 | int * _nck_deriv; |
| saloutos | 16:f9ea2b2d410f | 15 | }; |