towr::Polynomial Class Reference

A polynomial of arbitrary order and dimension. More...

`#include <polynomial.h>`

Inheritance diagram for towr::Polynomial: [legend]

List of all members.

## Public Types

enum  Coefficients {
A = 0, B, C, D,
E, F, G, H,
I, J
}

## Public Member Functions

double GetDerivativeWrtCoeff (double t, Dx poly_deriv, Coefficients coeff) const
The derivative of the polynomial with respect to the coefficients.
State GetPoint (double t) const
Polynomial (int poly_order, int poly_dim)
Constructs a polynomial with zero coefficient values.
virtual ~Polynomial ()

## Protected Attributes

std::vector< VectorXd > coeff_

## Private Attributes

CoeffIDVec coeff_ids_

## Detailed Description

A polynomial of arbitrary order and dimension.

A polynomial, e.g. 5th order is defined as: f(t) = Ft^5 + Et^4 + Dt^3 + Ct^2 + Bt + A fd(t) = 5Ft^4 + 4Et^3 + 3Dt^2 + 2Ct + B fdd(t) = 20Ft^3 + 12Et^2 + 6Dt + 2C

This class is responsible for calculating the values f(t) and higher order derivatives from the coefficient values.

Definition at line 53 of file polynomial.h.

## Member Enumeration Documentation

Enumerator:
 A B C D E F G H I J

Definition at line 55 of file polynomial.h.

## Constructor & Destructor Documentation

 towr::Polynomial::Polynomial ( int poly_order, int poly_dim ) ` [explicit]`

Constructs a polynomial with zero coefficient values.

Parameters:
 poly_order The highest exponent of t, e.g. 5-th order -> t^5. poly_dim The dimensions of f(t), e.g. x,y,z.

Definition at line 38 of file polynomial.cc.

 virtual towr::Polynomial::~Polynomial ( ) ` [virtual]`

## Member Function Documentation

 double towr::Polynomial::GetDerivativeWrtCoeff ( double t, Dx poly_deriv, Coefficients coeff ) const

The derivative of the polynomial with respect to the coefficients.

Parameters:
 t The time at which the derivative should be evaluated. poly_deriv Which polynomial derivative f(t), fd(t), function to use. coeff The coefficient with respect to which to calculate the derivative.

Definition at line 64 of file polynomial.cc.

 State towr::Polynomial::GetPoint ( double t ) const
Returns:
The state of the polyomial at a specific time t.

Definition at line 47 of file polynomial.cc.

## Member Data Documentation

 std::vector towr::Polynomial::coeff_` [protected]`

Definition at line 83 of file polynomial.h.

 CoeffIDVec towr::Polynomial::coeff_ids_` [private]`

Definition at line 86 of file polynomial.h.

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

towr
Author(s): Alexander W. Winkler
autogenerated on Mon Apr 15 2019 02:42:32