PotentialFunctionImpl.hpp

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/*
 * PotentialFunctionImpl.hpp
 *
 *  Created on: Sep 8, 2012
 *      Author: mriedel
 */

#ifndef POTENTIALFUNCTIONIMPL_HPP_
#define POTENTIALFUNCTIONIMPL_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_calculus/Potentials/PotentialFunctionOptions.hpp>

namespace TELEKYB_NAMESPACE {

namespace PotentialFunctionImpl {

class CoTanRepulsiveGradient {
private:
        PotentialFunctionOptions& options;
public:
        CoTanRepulsiveGradient(PotentialFunctionOptions& options_) : options(options_) {}
        double operator()(double d) const {
                double z = (M_PI/2.0) *
                                ((d - options.tPotFuncInfD->getValue())
                                                / (options.tPotFuncZeroD->getValue() - options.tPotFuncInfD->getValue()));
                double cot_z = 1.0/tan(z);
                double retValue = (M_PI/2.0) * (1.0 / (options.tPotFuncZeroD->getValue() - options.tPotFuncInfD->getValue())) *
                                pow((cot_z + z - (M_PI/2.0)),options.tPotFuncGain->getValue());
                return retValue;
        }
        PotentialFunctionType operator()() const {
                return PotentialFunctionType::Repulsive;
        }
};

class CoTanAttractiveGradient {
private:
        PotentialFunctionOptions& options;
public:
        CoTanAttractiveGradient(PotentialFunctionOptions& options_) : options(options_) {}
        double operator()(double d) const {
                double z = (M_PI/2.0) *
                                ((options.tPotFuncInfD->getValue() - d)
                                                / (options.tPotFuncInfD->getValue() - options.tPotFuncZeroD->getValue()));
                double cot_z = 1.0/tan(z);
                double retValue = (M_PI/2.0) * (1.0 / (options.tPotFuncInfD->getValue() - options.tPotFuncZeroD->getValue())) *
                                pow((cot_z + z - (M_PI/2.0)),options.tPotFuncGain->getValue());
                return retValue;
        }
        PotentialFunctionType operator()() const {
                return PotentialFunctionType::Attractive;
        }
};

// Derivative of Gradient

class CoTanRepulsiveHassian {
private:
        PotentialFunctionOptions& options;
public:
        CoTanRepulsiveHassian(PotentialFunctionOptions& options_) : options(options_) {}
        double operator()(double d) const {
                double z = (M_PI/2.0) *
                                ((d - options.tPotFuncInfD->getValue())
                                                / (options.tPotFuncZeroD->getValue() - options.tPotFuncInfD->getValue()));
                double cot_z = 1.0/tan(z);
                double retValue = (M_PI/2.0) * (1.0 / (options.tPotFuncZeroD->getValue() - options.tPotFuncInfD->getValue())) *
                                options.tPotFuncGain->getValue() *
                                pow((cot_z + z - (M_PI/2.0)), options.tPotFuncGain->getValue() - 1.0) *
                                pow(cot_z,2);
                return retValue;
        }
        PotentialFunctionType operator()() const {
                return PotentialFunctionType::Repulsive;
        }
};

}

}




#endif /* POTENTIALFUNCTIONIMPL_HPP_ */