|
| typedef Polynomial< N > | parent_t |
| |
| typedef parent_t::value_type | value_type |
| |
| typedef Function::interval_t | interval_t |
| |
| typedef std::vector< value_type > | roots_t |
| | Type of the vector of roots.
|
| |
| typedef Eigen::Matrix< value_type, N+1, 1 > | coefs_t |
| | Fixed-size coefficient vector (N+1 if N is the polynomial degree).
|
| |
| typedef std::vector< value_type > | values_t |
| | Type of the critical points.
|
| |
| typedef std::pair< value_type, value_type > | max_t |
| | Type of a maximum query: (t_max, P(t_max))
|
| |
| typedef std::pair< value_type, value_type > | min_t |
| | Type of a minimum query: (t_min, P(t_min))
|
| |
| typedef ::roboptim::Polynomial< Function::traits_t > | polynomialFunction_t |
| | Polynomial function.
|
| |
|
| | Monomial (value_type t0) |
| | Constructor of a monomial: (t-t₀)
|
| |
| | ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (Function) |
| |
| | BOOST_STATIC_ASSERT (N >=0) |
| | Polynomial degree >= 0.
|
| |
| | Polynomial () |
| | Default constructor: return a null polynomial.
|
| |
| | Polynomial (value_type t0, const_vector_ref coefs) |
| | Construct of a polynomial from its center and its coefficients.
|
| |
| | Polynomial (value_type t0,...) |
| | Variadic constructor.
|
| |
| template<int M> |
| | Polynomial (const Polynomial< M > &p) |
| | Copy constructor of polynomials of different orders.
|
| |
| Polynomial< N > | translate (value_type t1) const |
| | Return a new polynomial translated from (t-t₀) to (t-t₁).
|
| |
| void | translateInPlace (value_type t1) |
| | Translate the polynomial (in place) from (t-t₀) to (t-t₁).
|
| |
| template<int K> |
| Polynomial< N-K > | derivative () const |
| | Compute the derivative polynomial of a given order.
|
| |
| value_type | derivative (value_type t, size_type order=1) const |
| | Evaluate the derivative of a given order.
|
| |
| template<int M> |
| Polynomial< N+M > | operator* (const Polynomial< M > &poly) const |
| | Multiply polynomials of different orders.
|
| |
| Polynomial< N > | operator+ (const Polynomial< N > &poly) const |
| | Addition of polynomials.
|
| |
| Polynomial< N > | operator- (const Polynomial< N > &poly) const |
| | Subtraction of polynomials.
|
| |
| Polynomial< N > | operator* (value_type lambda) const |
| | Scalar multiplication of a polynomial.
|
| |
| void | operator+= (const Polynomial< N > &poly) |
| | Addition of polynomials.
|
| |
| value_type | operator() (value_type t) const |
| | Evaluate the polynomial with Horner's method.
|
| |
| const coefs_t & | coefs () const |
| | Const getter to coefs.
|
| |
| coefs_t & | coefs () |
| | Getter to coefs.
|
| |
| value_type | t0 () const |
| | Const getter to t0.
|
| |
| value_type & | t0 () |
| | Reference to t0.
|
| |
| value_type | operator[] (int i) const |
| | Get the i-th polynomial coefficient.
|
| |
| roots_t | realRoots (value_type epsilon=1e-6) const |
| | Return the real roots of the polynomial.
|
| |
| values_t | critPoints (const interval_t &interval) const |
| | Compute the critical values of the polynomial on an interval.
|
| |
| min_t | min (const interval_t &interval, bool acceptConstant=true) const |
| | Compute the minimum of the polynomial on an interval.
|
| |
| max_t | max (const interval_t &interval, bool acceptConstant=true) const |
| | Compute the maximum of the polynomial on an interval.
|
| |
| bool | isNull (value_type epsilon=Function::epsilon()) const |
| | Return whether the polynomial is null.
|
| |
| bool | isConstant (value_type epsilon=Function::epsilon()) const |
| | Return whether the polynomial is constant.
|
| |
| bool | isLinear (value_type epsilon=Function::epsilon()) const |
| | Return whether the polynomial is linear.
|
| |
| int | trueOrder (value_type epsilon=Function::epsilon()) const |
| | Return the "true" order of the polynomial.
|
| |
| polynomialFunction_t | asFunction () const |
| | Get the equivalent Polynomial function.
|
| |
| virtual std::ostream & | print (std::ostream &o) const |
| | Print the polynomial.
|
| |
template<int N>
struct roboptim::trajectory::Monomial< N >
Monomial.