Public Member Functions | List of all members
fcl::TaylorModel Class Reference

TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. More...

#include <hpp/fcl/ccd/taylor_model.h>

Public Member Functions

void setTimeInterval (FCL_REAL l, FCL_REAL r)
 
void setTimeInterval (const boost::shared_ptr< TimeInterval > &time_interval)
 
const boost::shared_ptr< TimeInterval > & getTimeInterval () const
 
FCL_REAL coeff (std::size_t i) const
 
FCL_REALcoeff (std::size_t i)
 
const Intervalremainder () const
 
Intervalremainder ()
 
 TaylorModel ()
 
 TaylorModel (const boost::shared_ptr< TimeInterval > &time_interval)
 
 TaylorModel (FCL_REAL coeff, const boost::shared_ptr< TimeInterval > &time_interval)
 
 TaylorModel (FCL_REAL coeffs[3], const Interval &r, const boost::shared_ptr< TimeInterval > &time_interval)
 
 TaylorModel (FCL_REAL c0, FCL_REAL c1, FCL_REAL c2, FCL_REAL c3, const Interval &r, const boost::shared_ptr< TimeInterval > &time_interval)
 
TaylorModel operator+ (const TaylorModel &other) const
 
TaylorModeloperator+= (const TaylorModel &other)
 
TaylorModel operator- (const TaylorModel &other) const
 
TaylorModeloperator-= (const TaylorModel &other)
 
TaylorModel operator+ (FCL_REAL d) const
 
TaylorModeloperator+= (FCL_REAL d)
 
TaylorModel operator- (FCL_REAL d) const
 
TaylorModeloperator-= (FCL_REAL d)
 
TaylorModel operator* (const TaylorModel &other) const
 
TaylorModel operator* (FCL_REAL d) const
 
TaylorModeloperator*= (const TaylorModel &other)
 
TaylorModeloperator*= (FCL_REAL d)
 
TaylorModel operator- () const
 
void print () const
 
Interval getBound () const
 
Interval getBound (FCL_REAL l, FCL_REAL r) const
 
Interval getTightBound () const
 
Interval getTightBound (FCL_REAL l, FCL_REAL r) const
 
Interval getBound (FCL_REAL t) const
 
void setZero ()
 

Detailed Description

TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder.

All the operations on two Taylor models assume their time intervals are the same.

Constructor & Destructor Documentation

◆ TaylorModel() [1/5]

fcl::TaylorModel::TaylorModel ( )

◆ TaylorModel() [2/5]

fcl::TaylorModel::TaylorModel ( const boost::shared_ptr< TimeInterval > &  time_interval)

◆ TaylorModel() [3/5]

fcl::TaylorModel::TaylorModel ( FCL_REAL  coeff,
const boost::shared_ptr< TimeInterval > &  time_interval 
)

◆ TaylorModel() [4/5]

fcl::TaylorModel::TaylorModel ( FCL_REAL  coeffs[3],
const Interval r,
const boost::shared_ptr< TimeInterval > &  time_interval 
)

◆ TaylorModel() [5/5]

fcl::TaylorModel::TaylorModel ( FCL_REAL  c0,
FCL_REAL  c1,
FCL_REAL  c2,
FCL_REAL  c3,
const Interval r,
const boost::shared_ptr< TimeInterval > &  time_interval 
)

Member Function Documentation

◆ coeff() [1/2]

FCL_REAL fcl::TaylorModel::coeff ( std::size_t  i) const
inline

◆ coeff() [2/2]

FCL_REAL& fcl::TaylorModel::coeff ( std::size_t  i)
inline

◆ getBound() [1/3]

Interval fcl::TaylorModel::getBound ( ) const

◆ getBound() [2/3]

Interval fcl::TaylorModel::getBound ( FCL_REAL  l,
FCL_REAL  r 
) const

◆ getBound() [3/3]

Interval fcl::TaylorModel::getBound ( FCL_REAL  t) const

◆ getTightBound() [1/2]

Interval fcl::TaylorModel::getTightBound ( ) const

◆ getTightBound() [2/2]

Interval fcl::TaylorModel::getTightBound ( FCL_REAL  l,
FCL_REAL  r 
) const

◆ getTimeInterval()

const boost::shared_ptr<TimeInterval>& fcl::TaylorModel::getTimeInterval ( ) const
inline

◆ operator*() [1/2]

TaylorModel fcl::TaylorModel::operator* ( const TaylorModel other) const

◆ operator*() [2/2]

TaylorModel fcl::TaylorModel::operator* ( FCL_REAL  d) const

◆ operator*=() [1/2]

TaylorModel& fcl::TaylorModel::operator*= ( const TaylorModel other)

◆ operator*=() [2/2]

TaylorModel& fcl::TaylorModel::operator*= ( FCL_REAL  d)

◆ operator+() [1/2]

TaylorModel fcl::TaylorModel::operator+ ( const TaylorModel other) const

◆ operator+() [2/2]

TaylorModel fcl::TaylorModel::operator+ ( FCL_REAL  d) const

◆ operator+=() [1/2]

TaylorModel& fcl::TaylorModel::operator+= ( const TaylorModel other)

◆ operator+=() [2/2]

TaylorModel& fcl::TaylorModel::operator+= ( FCL_REAL  d)

◆ operator-() [1/3]

TaylorModel fcl::TaylorModel::operator- ( const TaylorModel other) const

◆ operator-() [2/3]

TaylorModel fcl::TaylorModel::operator- ( FCL_REAL  d) const

◆ operator-() [3/3]

TaylorModel fcl::TaylorModel::operator- ( ) const

◆ operator-=() [1/2]

TaylorModel& fcl::TaylorModel::operator-= ( const TaylorModel other)

◆ operator-=() [2/2]

TaylorModel& fcl::TaylorModel::operator-= ( FCL_REAL  d)

◆ print()

void fcl::TaylorModel::print ( ) const

◆ remainder() [1/2]

const Interval& fcl::TaylorModel::remainder ( ) const
inline

◆ remainder() [2/2]

Interval& fcl::TaylorModel::remainder ( )
inline

◆ setTimeInterval() [1/2]

void fcl::TaylorModel::setTimeInterval ( FCL_REAL  l,
FCL_REAL  r 
)
inline

◆ setTimeInterval() [2/2]

void fcl::TaylorModel::setTimeInterval ( const boost::shared_ptr< TimeInterval > &  time_interval)
inline

◆ setZero()

void fcl::TaylorModel::setZero ( )