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