hpp::core::timeParameterization::Polynomial Class Reference

#include <hpp/core/time-parameterization/polynomial.hh>

Inheritance diagram for hpp::core::timeParameterization::Polynomial:

Collaboration diagram for hpp::core::timeParameterization::Polynomial:

Public Member Functions
	Polynomial (const vector_t &param)
const vector_t &	parameters () const
TimeParameterizationPtr_t	copy () const
value_type	value (const value_type &t) const
	Computes \( \sum_{i=0}^n a_i t^i \).
value_type	derivative (const value_type &t, const size_type &order) const
	Computes \( \sum_{i=1}^n i a_i t^{i-1} \).
value_type	derivativeBound (const value_type &low, const value_type &up) const

Constructor & Destructor Documentation

Polynomial()

hpp::core::timeParameterization::Polynomial::Polynomial ( const vector_t & param )

inline

Member Function Documentation

copy()

TimeParameterizationPtr_t hpp::core::timeParameterization::Polynomial::copy ( ) const

inlinevirtual

Implements hpp::core::TimeParameterization.

derivative()

value_type hpp::core::timeParameterization::Polynomial::derivative ( const value_type & t, const size_type & order ) const

inlinevirtual

Computes \( \sum_{i=1}^n i a_i t^{i-1} \).

Implements hpp::core::TimeParameterization.

derivativeBound()

value_type hpp::core::timeParameterization::Polynomial::derivativeBound ( const value_type & low, const value_type & up ) const

inlinevirtual

Compute the bound of the derivative on \( [ low, up ] \). Three cases are handled:

• first order: \( B = |a_1| \)
• second order: \( B = \max{|J(low)|, |J(up)|} \)
• third order: Let \( x_m = - \frac{a_2}{3 a_3} \) be the extremal point of the derivative and \( M = \max{|J(low)|, |J(up)|}\). Then:
  • if \( low < x_m < up \), \( B = \max{ |a_1 - \frac{a_2}{3 a_3}|, M } \)
  • else \( B = M \)

Reimplemented from hpp::core::TimeParameterization.

parameters()

const vector_t & hpp::core::timeParameterization::Polynomial::parameters ( ) const

inline

value()

value_type hpp::core::timeParameterization::Polynomial::value ( const value_type & t ) const

inlinevirtual

Computes \( \sum_{i=0}^n a_i t^i \).

Implements hpp::core::TimeParameterization.

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The documentation for this class was generated from the following file:

• include/hpp/core/time-parameterization/polynomial.hh