rb::math::Polynomial Class Reference

A class for constructing polynomial function. More...

#include <polynomial.h>

Public Member Functions
	Polynomial ()
	Default Construction.
	Polynomial (const short deg, const double t=0.)
	Construct polynomial with given degree.
void	coeffQuintic (const std::vector< double > &start, const std::vector< double > &end, const double &T)
	Compute the coefficients of quintic (fifth order) polynomial by giving initial conditions of start and end.
double	getPosition (const double &T) const
	Get the value (position) of polynomial f(t) at time T.
double	getVelocity (const double &T) const
	Get the 1st order differential value (velocity) of polynomial f(t) at time T.
double	getAcceleration (const double &T) const
	Get the 2nd order differential value (acceleration) of polynomial f(t) at time T.
short	getDegree (void) const
	Get the degree (order) of the polynomial function.
rb::math::VectorX	getCoeff (void) const
	Get the coefficients of the polynomial function.

Protected Attributes
short	degree_
	An integer indicate degree of polynomial.
rb::math::VectorX	c_
	A vector of coefficient of polynomial.
double	t_
	The duration (time) of polynomial function f(t).

Detailed Description

A class for constructing polynomial function.

Member Function Documentation

coeffQuintic()

void rb::math::Polynomial::coeffQuintic ( const std::vector< double > &  start, const std::vector< double > &  end, const double &  T  )

inline

Compute the coefficients of quintic (fifth order) polynomial by giving initial conditions of start and end.

Parameters

start	initial condition of f[0], fd[0], fdd[0].
end	initial condition of f[T], fd[T], fdd[T].
T	duration (time interval) of polynomial function.

getAcceleration()

double rb::math::Polynomial::getAcceleration ( const double &  T ) const

inline

Get the 2nd order differential value (acceleration) of polynomial f(t) at time T.

Parameters

T	the value of a certain time.

Returns

double

getCoeff()

rb::math::VectorX rb::math::Polynomial::getCoeff ( void  ) const

inline

Get the coefficients of the polynomial function.

Returns

rb::math::VectorX

getDegree()

short rb::math::Polynomial::getDegree ( void  ) const

inline

Get the degree (order) of the polynomial function.

Returns

short

getPosition()

double rb::math::Polynomial::getPosition ( const double &  T ) const

inline

Get the value (position) of polynomial f(t) at time T.

Parameters

T	the value of certain time.

Returns

double

getVelocity()

double rb::math::Polynomial::getVelocity ( const double &  T ) const

inline

Get the 1st order differential value (velocity) of polynomial f(t) at time T.

Parameters

T	the value of a certain time.

Returns

double

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

• polynomial.h