Represents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order. More...

#include <parametric-curves/polynomial.hpp>

Inheritance diagram for parametriccurves::Polynomial< Numeric, Dim, Point >:

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Collaboration diagram for parametriccurves::Polynomial< Numeric, Dim, Point >:

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Public Types
typedef Point	point_t

typedef Numeric	time_t

typedef Numeric	num_t

typedef std::vector< Point, Eigen::aligned_allocator< Point > >	t_point_t

typedef AbstractCurve< Numeric, Point >	curve_abc_t

typedef Eigen::Matrix< double, Dim, Eigen::Dynamic >	coeff_t

typedef Eigen::Ref< coeff_t >	coeff_t_ref

Public Types inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 3, 1 > >
typedef Eigen::Matrix< double, 3, 1 >	point_t

typedef double	time_t

typedef double	num_t

Public Member Functions
	Polynomial (const coeff_t &coefficients, const time_t tmin, const time_t tmax)
	Constructor. More...

	Polynomial (const t_point_t &coefficients, const time_t tmin, const time_t tmax)
	Constructor. More...

	Polynomial ()

template<typename In >
	Polynomial (In zeroOrderCoefficient, In out, const time_t tmin, const time_t tmax)
	Constructor. More...

	~Polynomial ()
	Destructor. More...

	Polynomial (const Polynomial &other)

virtual const point_t	operator() (const time_t &t) const
	Evaluation of the cubic spline at time t using horner's scheme. More...

virtual const point_t	derivate (const time_t &t, const std::size_t &order) const
	Evaluation of the derivative spline at time t. More...

virtual const std::size_t &	size () const

virtual bool	setInitialPoint (const point_t &)

virtual bool	setInitialPoint (const num_t &)

Public Member Functions inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 3, 1 > >
	AbstractCurve (time_t t_min_, time_t t_max_)

	AbstractCurve ()

virtual	~AbstractCurve ()

virtual const point_t	operator() (const time_t &t) const=0
	Evaluation of the cubic spline at time t. More...

virtual const point_t	derivate (const time_t &t, const std::size_t &order) const=0
	Evaluation of the derivative spline at time t. More...

virtual const time_t	tmin () const

virtual const time_t	tmax () const

virtual bool	checkRange (const time_t t) const

virtual bool	setInitialPoint (const point_t &)=0

virtual bool	setInitialPoint (const num_t &)=0

virtual bool	setTimePeriod (const time_t &traj_time_)

Protected Attributes
coeff_t	coefficients_

std::size_t	dim_

std::size_t	order_

Protected Attributes inherited from parametriccurves::AbstractCurve< double, Eigen::Matrix< double, 3, 1 > >
time_t	t_min

time_t	t_max

Friends
class	boost::serialization::access

Detailed Description

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class parametriccurves::Polynomial< Numeric, Dim, Point >

Represents a Polynomialf arbitrary order defined on the interval [tBegin, tEnd]. It follows the equation x(t) = a + b(t - t_min_) + ... + d(t - t_min_)^N, where N is the order.

Member Typedef Documentation

◆ coeff_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Eigen::Matrix<double, Dim, Eigen::Dynamic> parametriccurves::Polynomial< Numeric, Dim, Point >::coeff_t

◆ coeff_t_ref

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Eigen::Ref<coeff_t> parametriccurves::Polynomial< Numeric, Dim, Point >::coeff_t_ref

◆ curve_abc_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef AbstractCurve<Numeric, Point> parametriccurves::Polynomial< Numeric, Dim, Point >::curve_abc_t

◆ num_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric parametriccurves::Polynomial< Numeric, Dim, Point >::num_t

◆ point_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Point parametriccurves::Polynomial< Numeric, Dim, Point >::point_t

◆ t_point_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef std::vector<Point, Eigen::aligned_allocator<Point> > parametriccurves::Polynomial< Numeric, Dim, Point >::t_point_t

◆ time_t

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

typedef Numeric parametriccurves::Polynomial< Numeric, Dim, Point >::time_t

Constructor & Destructor Documentation

◆ Polynomial() [1/5]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::Polynomial< Numeric, Dim, Point >::Polynomial	(	const coeff_t &	coefficients,
		const time_t	tmin,
		const time_t	tmax
	)

inline

Constructor.

Parameters

coefficients	: a reference to an Eigen matrix where each column is a coefficient, from the zero order coefficient, up to the highest order. Spline order is given by the number of the columns -1.
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ Polynomial() [2/5]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::Polynomial< Numeric, Dim, Point >::Polynomial	(	const t_point_t &	coefficients,
		const time_t	tmin,
		const time_t	tmax
	)

inline

Constructor.

Parameters

coefficients	: a container containing all coefficients of the spline, starting with the zero order coefficient, up to the highest order. Spline order is given by the size of the coefficients
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ Polynomial() [3/5]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::Polynomial< Numeric, Dim, Point >::Polynomial ( )

inline

◆ Polynomial() [4/5]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

template<typename In >

parametriccurves::Polynomial< Numeric, Dim, Point >::Polynomial	(	In	zeroOrderCoefficient,
		In	out,
		const time_t	tmin,
		const time_t	tmax
	)

inline

Constructor.

Parameters

zeroOrderCoefficient	: an iterator pointing to the first element of a structure containing the coefficients it corresponds to the zero degree coefficient
out	: an iterator pointing to the last element of a structure ofcoefficients
min	LOWER bound on interval definition of the spline
max	UPPER bound on interval definition of the spline

◆ ~Polynomial()

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::Polynomial< Numeric, Dim, Point >::~Polynomial ( )

inline

Destructor.

◆ Polynomial() [5/5]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

parametriccurves::Polynomial< Numeric, Dim, Point >::Polynomial ( const Polynomial< Numeric, Dim, Point > & other )

inline

Member Function Documentation

◆ derivate()

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual const point_t parametriccurves::Polynomial< Numeric, Dim, Point >::derivate	(	const time_t &	t,
		const std::size_t &	order
	)		const

inlinevirtual

Evaluation of the derivative spline at time t.

Parameters

t	: the time when to evaluate the spline
order	: order of the derivative
return	: the value x(t)

◆ operator()()

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual const point_t parametriccurves::Polynomial< Numeric, Dim, Point >::operator() ( const time_t & t ) const

inlinevirtual

Evaluation of the cubic spline at time t using horner's scheme.

Parameters

t	: the time when to evaluate the spine
return	: the value x(t)

◆ setInitialPoint() [1/2]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::Polynomial< Numeric, Dim, Point >::setInitialPoint ( const num_t & )

inlinevirtual

◆ setInitialPoint() [2/2]

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual bool parametriccurves::Polynomial< Numeric, Dim, Point >::setInitialPoint ( const point_t & )

inlinevirtual

◆ size()

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

virtual const std::size_t& parametriccurves::Polynomial< Numeric, Dim, Point >::size ( ) const

inlinevirtual

Friends And Related Function Documentation

◆ boost::serialization::access

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

friend class boost::serialization::access

friend

Member Data Documentation

◆ coefficients_

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

coeff_t parametriccurves::Polynomial< Numeric, Dim, Point >::coefficients_

protected

◆ dim_

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

std::size_t parametriccurves::Polynomial< Numeric, Dim, Point >::dim_

protected

◆ order_

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>

std::size_t parametriccurves::Polynomial< Numeric, Dim, Point >::order_

protected

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

include/parametric-curves/polynomial.hpp

Public Types

Public Member Functions

Protected Attributes

Friends

Detailed Description

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>> class parametriccurves::Polynomial< Numeric, Dim, Point >

Member Typedef Documentation

◆ coeff_t

◆ coeff_t_ref

◆ curve_abc_t

◆ num_t

◆ point_t

◆ t_point_t

◆ time_t

Constructor & Destructor Documentation

◆ Polynomial() [1/5]

◆ Polynomial() [2/5]

◆ Polynomial() [3/5]

◆ Polynomial() [4/5]

◆ ~Polynomial()

◆ Polynomial() [5/5]

Member Function Documentation

◆ derivate()

◆ operator()()

◆ setInitialPoint() [1/2]

◆ setInitialPoint() [2/2]

◆ size()

Friends And Related Function Documentation

◆ boost::serialization::access

Member Data Documentation

◆ coefficients_

◆ dim_

◆ order_

template<typename Numeric = double, Eigen::Index Dim = 3, typename Point = Eigen::Matrix<Numeric, Dim, 1>>
class parametriccurves::Polynomial< Numeric, Dim, Point >