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

#include <polynomial.h>

Inheritance diagram for towr::Polynomial:

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< 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 Typedef Documentation

using towr::Polynomial::CoeffIDVec = std::vector<Coefficients>

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

enum towr::Polynomial::Coefficients

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 ( )

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

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<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:

Public Types

Public Member Functions