TypeIIRMLPolynomial.h
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44 
45 
46 #ifndef __TypeIIRMLPolynomial__
47 #define __TypeIIRMLPolynomial__
48 
49 
50 #include "TypeIIRMLMath.h"
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52 namespace TypeIIRMLMath
53 {
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65 class TypeIIRMLPolynomial
66 {
67 public:
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76  TypeIIRMLPolynomial(void);
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85  ~TypeIIRMLPolynomial(void);
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110  void SetCoefficients( const double &Coeff2
111  , const double &Coeff1
112  , const double &Coeff0
113  , const double &Diff);
114 
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138  void GetCoefficients( double *Coeff2
139  , double *Coeff1
140  , double *Coeff0
141  , double *Diff ) const;
142 
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170  void CalculateRealRoots ( unsigned int *NumberOfRoots
171  , double *Root1
172  , double *Root2) const;
173 
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190  double CalculateValue(const double &t) const;
191 
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199  unsigned int Degree;
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209  double a2;
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219  double a1;
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229  double a0;
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239  double DeltaT;
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241 }; // class TypeIIRMLPolynomial
242 
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260 struct MotionPolynomials
261 {
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273  double PolynomialTimes [MAXIMAL_NO_OF_POLYNOMIALS] ;
274 
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288  TypeIIRMLPolynomial PositionPolynomial [MAXIMAL_NO_OF_POLYNOMIALS] ;
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303  TypeIIRMLPolynomial VelocityPolynomial [MAXIMAL_NO_OF_POLYNOMIALS] ;
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318  TypeIIRMLPolynomial AccelerationPolynomial [MAXIMAL_NO_OF_POLYNOMIALS] ;
319 
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327  unsigned char ValidPolynomials ;
328 };
329 
330 
331 } // namespace TypeIIRMLMath
332 
333 
334 #endif
TypeIIRMLMath::TypeIIRMLPolynomial::a0
double a0
Parameter of the polynomial function .
Definition: TypeIIRMLPolynomial.h:229
TypeIIRMLMath::TypeIIRMLPolynomial::Degree
unsigned int Degree
Positive integer number that defines the degree of the current polynomial.
Definition: TypeIIRMLPolynomial.h:199
MAXIMAL_NO_OF_POLYNOMIALS
#define MAXIMAL_NO_OF_POLYNOMIALS
The maximum number of polynomials.
Definition: TypeIIRMLMath.h:115
TypeIIRMLMath::TypeIIRMLPolynomial::TypeIIRMLPolynomial
TypeIIRMLPolynomial(void)
Constructor of the class TypeIIRMLPolynomial.
Definition: TypeIIRMLPolynomial.cpp:53
TypeIIRMLMath::MotionPolynomials
Three arrays of TypeIIRMLMath::TypeIIRMLPolynomial.
Definition: TypeIIRMLPolynomial.h:260
TypeIIRMLMath::TypeIIRMLPolynomial::DeltaT
double DeltaT
Parameter of the polynomial function .
Definition: TypeIIRMLPolynomial.h:239
TypeIIRMLMath.h
Header file for functions and definitions of constant values and macros.
TypeIIRMLMath::TypeIIRMLPolynomial::SetCoefficients
void SetCoefficients(const double &Coeff2, const double &Coeff1, const double &Coeff0, const double &Diff)
Sets the coefficients of the polynomial object.
Definition: TypeIIRMLPolynomial.cpp:74
TypeIIRMLMath::TypeIIRMLPolynomial::~TypeIIRMLPolynomial
~TypeIIRMLPolynomial(void)
Destructor of the class TypeIIRMLPolynomial.
Definition: TypeIIRMLPolynomial.cpp:66
TypeIIRMLMath::TypeIIRMLPolynomial::a1
double a1
Parameter of the polynomial function .
Definition: TypeIIRMLPolynomial.h:219
TypeIIRMLMath::TypeIIRMLPolynomial
This class realizes polynomials of degree three as required for the Type II On-Line Trajectory Genera...
Definition: TypeIIRMLPolynomial.h:65
TypeIIRMLMath::TypeIIRMLPolynomial::a2
double a2
Parameter of the polynomial function .
Definition: TypeIIRMLPolynomial.h:209
TypeIIRMLMath::TypeIIRMLPolynomial::CalculateRealRoots
void CalculateRealRoots(unsigned int *NumberOfRoots, double *Root1, double *Root2) const
Calculates the real roots of the polynomial specified by the attributes of this object.
Definition: TypeIIRMLPolynomial.cpp:137
TypeIIRMLMath::TypeIIRMLPolynomial::GetCoefficients
void GetCoefficients(double *Coeff2, double *Coeff1, double *Coeff0, double *Diff) const
Returns the coefficients of the polynomial object.
Definition: TypeIIRMLPolynomial.cpp:105
TypeIIRMLMath::MotionPolynomials::ValidPolynomials
unsigned char ValidPolynomials
The number of polynomials in use (0 ... MAXIMAL_NO_OF_POLYNOMIALS)
Definition: TypeIIRMLPolynomial.h:327
TypeIIRMLMath::TypeIIRMLPolynomial::CalculateValue
double CalculateValue(const double &t) const
Calculates the function value at of the polynomial specified by the attributes of this object...
Definition: TypeIIRMLPolynomial.cpp:124

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autogenerated on Sat Nov 21 2020 03:17:34