Public Types | Public Member Functions | Protected Attributes | Private Attributes | List of all members
towr::Polynomial Class Reference

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

#include <polynomial.h>

Inheritance diagram for towr::Polynomial:
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Public Types

enum  Coefficients {
  A =0, B, C, D,
  E, F, G, H,
  I, J
}
 
using CoeffIDVec = std::vector< Coefficients >
 
using VectorXd = Eigen::VectorXd
 

Public Member Functions

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

Protected Attributes

std::vector< VectorXdcoeff_
 

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 Typedef Documentation

Definition at line 56 of file polynomial.h.

using towr::Polynomial::VectorXd = Eigen::VectorXd

Definition at line 57 of file polynomial.h.

Member Enumeration Documentation

Enumerator

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_orderThe highest exponent of t, e.g. 5-th order -> t^5.
poly_dimThe dimensions of f(t), e.g. x,y,z.

Definition at line 38 of file polynomial.cc.

virtual towr::Polynomial::~Polynomial ( )
virtualdefault

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
tThe time at which the derivative should be evaluated.
poly_derivWhich polynomial derivative f(t), fd(t), function to use.
coeffThe 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<VectorXd> 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 Fri Apr 2 2021 02:14:16