\[ M (t) = t-t_0 \]
. More...
#include <roboptim/trajectory/polynomial.hh>
Public Types | |
| typedef Polynomial< N > | parent_t |
| typedef parent_t::value_type | value_type |
 Public Types inherited from roboptim::trajectory::Polynomial< N > | |
| typedef Function::interval_t | interval_t |
| typedef std::vector< value_type > | roots_t |
| Type of the vector of roots. More... | |
| typedef Eigen::Matrix < value_type, N+1, 1 > | coefs_t |
| Fixed-size coefficient vector (N+1 if N is the polynomial degree). More... | |
| typedef std::vector< value_type > | values_t |
| Type of the critical points. More... | |
| typedef std::pair< value_type, value_type > | max_t |
| Type of a maximum query: (t_max, P(t_max)) More... | |
| typedef std::pair< value_type, value_type > | min_t |
| Type of a minimum query: (t_min, P(t_min)) More... | |
| typedef ::roboptim::Polynomial < Function::traits_t > | polynomialFunction_t |
| Polynomial function. More... | |
Public Member Functions | |
| Monomial (value_type t0) | |
| Constructor of a monomial: (t-t₀) More... | |
| Public Member Functions inherited from roboptim::trajectory::Polynomial< N > | |
| ROBOPTIM_FUNCTION_FWD_TYPEDEFS_ (Function) | |
| BOOST_STATIC_ASSERT (N >=0) | |
| Polynomial degree >= 0. More... | |
| Polynomial () | |
| Default constructor: return a null polynomial. More... | |
| Polynomial (value_type t0, const_vector_ref coefs) | |
| Construct of a polynomial from its center and its coefficients. More... | |
| Polynomial (value_type t0,...) | |
| Variadic constructor. More... | |
| template<int M> | |
| Polynomial (const Polynomial< M > &p) | |
| Copy constructor of polynomials of different orders. More... | |
| Polynomial< N > | translate (value_type t1) const |
| Return a new polynomial translated from (t-t₀) to (t-t₁). More... | |
| void | translateInPlace (value_type t1) |
| Translate the polynomial (in place) from (t-t₀) to (t-t₁). More... | |
| template<int K> | |
| Polynomial< N-K > | derivative () const |
| Compute the derivative polynomial of a given order. More... | |
| value_type | derivative (value_type t, size_type order=1) const |
| Evaluate the derivative of a given order. More... | |
| template<int M> | |
| Polynomial< N+M > | operator* (const Polynomial< M > &poly) const |
| Multiply polynomials of different orders. More... | |
| Polynomial< N > | operator+ (const Polynomial< N > &poly) const |
| Addition of polynomials. More... | |
| Polynomial< N > | operator- (const Polynomial< N > &poly) const |
| Subtraction of polynomials. More... | |
| Polynomial< N > | operator* (value_type lambda) const |
| Scalar multiplication of a polynomial. More... | |
| void | operator+= (const Polynomial< N > &poly) |
| Addition of polynomials. More... | |
| value_type | operator() (value_type t) const |
| Evaluate the polynomial with Horner's method. More... | |
| const coefs_t & | coefs () const |
| Const getter to coefs. More... | |
| coefs_t & | coefs () |
| Getter to coefs. More... | |
| value_type | t0 () const |
| Const getter to t0. More... | |
| value_type & | t0 () |
| Reference to t0. More... | |
| value_type | operator[] (int i) const |
| Get the i-th polynomial coefficient. More... | |
| roots_t | realRoots (value_type epsilon=1e-6) const |
| Return the real roots of the polynomial. More... | |
| values_t | critPoints (const interval_t &interval) const |
| Compute the critical values of the polynomial on an interval. More... | |
| min_t | min (const interval_t &interval, bool acceptConstant=true) const |
| Compute the minimum of the polynomial on an interval. More... | |
| max_t | max (const interval_t &interval, bool acceptConstant=true) const |
| Compute the maximum of the polynomial on an interval. More... | |
| bool | isNull (value_type epsilon=Function::epsilon()) const |
| Return whether the polynomial is null. More... | |
| bool | isConstant (value_type epsilon=Function::epsilon()) const |
| Return whether the polynomial is constant. More... | |
| bool | isLinear (value_type epsilon=Function::epsilon()) const |
| Return whether the polynomial is linear. More... | |
| int | trueOrder (value_type epsilon=Function::epsilon()) const |
| Return the "true" order of the polynomial. More... | |
| polynomialFunction_t | asFunction () const |
| Get the equivalent Polynomial function. More... | |
| virtual std::ostream & | print (std::ostream &o) const |
| Print the polynomial. More... | |
Additional Inherited Members | |
| Static Public Member Functions inherited from roboptim::trajectory::Polynomial< N > | |
| static int | order () |
| Return the order of such a polynomial. More... | |
| Protected Types inherited from roboptim::trajectory::Polynomial< N > | |
| enum | special_polynomials { all_zero_coefficients = 0, monomial_coefficients = 1 } |
| Enum for special polynomials. More... | |
| Protected Member Functions inherited from roboptim::trajectory::Polynomial< N > | |
| value_type | impl_derivative (value_type t, size_type order, size_type start_coef=0) const |
| template<int K> | |
| Polynomial< N-K > | impl_derivative () const |
| Implementation of the compile-time derivative. More... | |
| coefs_t | impl_translate (value_type t1) const |
| Polynomial (value_type t0, special_polynomials key) | |
| Special constructor for Monomial<N> and some operators. More... | |
| Static Protected Attributes inherited from roboptim::trajectory::Polynomial< N > | |
| static const int | order_ = N |
| order of the polynomial. More... | |
| typedef Polynomial<N> roboptim::trajectory::Monomial< N >::parent_t |
| typedef parent_t::value_type roboptim::trajectory::Monomial< N >::value_type |
|
inline |
Constructor of a monomial: (t-t₀)
| t0 | "center" of the monomial. |
1.8.3.1 
