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_REAL &	coeff (std::size_t i)
const Interval &	remainder () const
Interval &	remainder ()
	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
TaylorModel &	operator+= (const TaylorModel &other)
TaylorModel	operator- (const TaylorModel &other) const
TaylorModel &	operator-= (const TaylorModel &other)
TaylorModel	operator+ (FCL_REAL d) const
TaylorModel &	operator+= (FCL_REAL d)
TaylorModel	operator- (FCL_REAL d) const
TaylorModel &	operator-= (FCL_REAL d)
TaylorModel	operator* (const TaylorModel &other) const
TaylorModel	operator* (FCL_REAL d) const
TaylorModel &	operator*= (const TaylorModel &other)
TaylorModel &	operator*= (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

fcl::TaylorModel::TaylorModel

(

)

fcl::TaylorModel::TaylorModel

(

const boost::shared_ptr< TimeInterval > &

time_interval

)

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

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

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

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

inline

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

inline

Interval fcl::TaylorModel::getBound

(

)

const

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

Interval fcl::TaylorModel::getBound

(

FCL_REAL

t

)

const

Interval fcl::TaylorModel::getTightBound

(

)

const

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

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

inline

TaylorModel fcl::TaylorModel::operator*

(

const TaylorModel &

other

)

const

TaylorModel fcl::TaylorModel::operator*

(

FCL_REAL

d

)

const

TaylorModel& fcl::TaylorModel::operator*=

(

const TaylorModel &

other

)

TaylorModel& fcl::TaylorModel::operator*=

(

FCL_REAL

d

)

TaylorModel fcl::TaylorModel::operator+

(

const TaylorModel &

other

)

const

TaylorModel fcl::TaylorModel::operator+

(

FCL_REAL

d

)

const

TaylorModel& fcl::TaylorModel::operator+=

(

const TaylorModel &

other

)

TaylorModel& fcl::TaylorModel::operator+=

(

FCL_REAL

d

)

TaylorModel fcl::TaylorModel::operator-

(

const TaylorModel &

other

)

const

TaylorModel fcl::TaylorModel::operator-

(

FCL_REAL

d

)

const

TaylorModel fcl::TaylorModel::operator-

(

)

const

TaylorModel& fcl::TaylorModel::operator-=

(

const TaylorModel &

other

)

TaylorModel& fcl::TaylorModel::operator-=

(

FCL_REAL

d

)

void fcl::TaylorModel::print

(

)

const

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

inline

Interval& fcl::TaylorModel::remainder ( )

inline

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

inline

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

inline

void fcl::TaylorModel::setZero

(

)