This class realizes polynomials of degree three as required for the Type II On-Line Trajectory Generation algorithm. More...

#include <TypeIIRMLPolynomial.h>

Public Member Functions
void	CalculateRealRoots (unsigned int NumberOfRoots, double Root1, double *Root2) const
	Calculates the real roots of the polynomial specified by the attributes of this object. More...

double	CalculateValue (const double &t) const
	Calculates the function value at of the polynomial specified by the attributes of this object. More...

void	GetCoefficients (double Coeff2, double Coeff1, double Coeff0, double Diff) const
	Returns the coefficients of the polynomial object. More...

void	SetCoefficients (const double &Coeff2, const double &Coeff1, const double &Coeff0, const double &Diff)
	Sets the coefficients of the polynomial object. More...

	TypeIIRMLPolynomial (void)
	Constructor of the class TypeIIRMLPolynomial. More...

	~TypeIIRMLPolynomial (void)
	Destructor of the class TypeIIRMLPolynomial. More...

Public Attributes
double	a0
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ . More...

double	a1
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ . More...

double	a2
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ . More...

unsigned int	Degree
	Positive integer number that defines the degree of the current polynomial. More...

double	DeltaT
	Parameter $\Delta T$ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ . More...

Detailed Description

This class realizes polynomials of degree three as required for the Type II On-Line Trajectory Generation algorithm.

See also: struct MotionPolynomials

Definition at line 65 of file TypeIIRMLPolynomial.h.

Constructor & Destructor Documentation

TypeIIRMLMath::TypeIIRMLPolynomial::TypeIIRMLPolynomial ( void )

Constructor of the class TypeIIRMLPolynomial.

Definition at line 53 of file TypeIIRMLPolynomial.cpp.

TypeIIRMLMath::TypeIIRMLPolynomial::~TypeIIRMLPolynomial ( void )

Destructor of the class TypeIIRMLPolynomial.

Definition at line 66 of file TypeIIRMLPolynomial.cpp.

Member Function Documentation

void TypeIIRMLMath::TypeIIRMLPolynomial::CalculateRealRoots	(	unsigned int *	NumberOfRoots,
		double *	Root1,
		double *	Root2
	)		const

Calculates the real roots of the polynomial specified by the attributes of this object.

Calculates up to three roots of the polynomial of degree two $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ , that is $f(t) = (t - r_1) \cdot (t - r_2)$ , where $ r_1 $ and $ r_2 $ are the desired roots of the current polynomial function.

Parameters

NumberOfRoots	A pointer to the value of the number of roots (0...2)
Root1	A pointer to the value of the first root (only valid for polynomials of degree one and higher)
Root2	A pointer to the value of the second root (only valid for polynomials of degree two)

Definition at line 137 of file TypeIIRMLPolynomial.cpp.

double TypeIIRMLMath::TypeIIRMLPolynomial::CalculateValue ( const double & t ) const

Calculates the function value at $ t $ of the polynomial specified by the attributes of this object.

Calculates the function value of $ f(t) $ at $t$
$f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters

t	function input value

Returns: The function value at

Definition at line 124 of file TypeIIRMLPolynomial.cpp.

void TypeIIRMLMath::TypeIIRMLPolynomial::GetCoefficients	(	double *	Coeff2,
		double *	Coeff1,
		double *	Coeff0,
		double *	Diff
	)		const

Returns the coefficients of the polynomial object.

Gets the coefficients for the polynomial of degree three $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters

Coeff2	$\ \Longrightarrow \ a_2$
Coeff1	$\ \Longrightarrow \ a_1$
Coeff0	$\ \Longrightarrow \ a_0$
Diff	$\ \Longrightarrow \ \Delta T$

Definition at line 105 of file TypeIIRMLPolynomial.cpp.

void TypeIIRMLMath::TypeIIRMLPolynomial::SetCoefficients	(	const double &	Coeff2,
		const double &	Coeff1,
		const double &	Coeff0,
		const double &	Diff
	)

Sets the coefficients of the polynomial object.

Sets the coefficients for the polynomial of degree three $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters

Coeff2	$\ \Longrightarrow \ a_2$
Coeff1	$\ \Longrightarrow \ a_1$
Coeff0	$\ \Longrightarrow \ a_0$
Diff	$\ \Longrightarrow \ \Delta T$

Definition at line 74 of file TypeIIRMLPolynomial.cpp.

Member Data Documentation

double TypeIIRMLMath::TypeIIRMLPolynomial::a0

Parameter $ a_0 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Definition at line 229 of file TypeIIRMLPolynomial.h.

double TypeIIRMLMath::TypeIIRMLPolynomial::a1

Parameter $ a_1 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Definition at line 219 of file TypeIIRMLPolynomial.h.

double TypeIIRMLMath::TypeIIRMLPolynomial::a2

Parameter $ a_2 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Definition at line 209 of file TypeIIRMLPolynomial.h.

unsigned int TypeIIRMLMath::TypeIIRMLPolynomial::Degree

Positive integer number that defines the degree of the current polynomial.

Definition at line 199 of file TypeIIRMLPolynomial.h.

double TypeIIRMLMath::TypeIIRMLPolynomial::DeltaT

Parameter $\Delta T$ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Definition at line 239 of file TypeIIRMLPolynomial.h.

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

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation