towr::Polynomial Class Reference

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

`#include <polynomial.h>`

Inheritance diagram for towr::Polynomial: [legend]

## 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

 using towr::Polynomial::CoeffIDVec = std::vector

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_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 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