rl::math::Function< T > Class Template Reference

A mathematical mapping from Real -> ArrayX. More...

#include <Function.h>

Inheritance diagram for rl::math::Function< T >:

Public Member Functions
	Function ()
virtual	~Function ()
virtual Function *	clone () const =0
Real	duration () const
Real &	lower ()
const Real &	lower () const
Real &	upper ()
const Real &	upper () const
virtual T	operator() (const Real &x, const ::std::size_t &derivative=0) const =0
	Evaluates the function or a derivative thereof for a given value x. More...

Protected Attributes
Real	x0
Real	x1

Detailed Description

template<typename T>
class rl::math::Function< T >

A mathematical mapping from Real -> ArrayX.

A Function is guaranteed to be defined in the interval [lower() upper()], and may be defined outside this interval. Its computation is expected to be numerically stable, accurate and efficient.

Constructor & Destructor Documentation

Function()

template<typename T >

rl::math::Function< T >::Function ( )

inline

~Function()

template<typename T >

virtual rl::math::Function< T >::~Function ( )

inlinevirtual

Member Function Documentation

clone()

template<typename T >

virtual Function* rl::math::Function< T >::clone ( ) const

pure virtual

Implemented in rl::math::Spline< T >, rl::math::Polynomial< T >, and rl::math::NestedFunction< T2, T >.

duration()

template<typename T >

Real rl::math::Function< T >::duration ( ) const

inline

lower() [1/2]

template<typename T >

Real& rl::math::Function< T >::lower ( )

inline

lower() [2/2]

template<typename T >

const Real& rl::math::Function< T >::lower ( ) const

inline

operator()()

template<typename T >

virtual T rl::math::Function< T >::operator() ( const Real &  x, const ::std::size_t &  derivative = 0  ) const

pure virtual

Evaluates the function or a derivative thereof for a given value x.

Some functions are only defined in the interval [lower(), upper()], and fail to evaluate outside of [lower() - FUNCTION_BOUNDARY, upper() + FUNCTION_BOUNDARY]. In Debug mode, this is signaled by failing asserts. In Release mode, the function is evaluated if algebraically possible, or will return an empty ArrayX otherwise. Some functions are not indefinitely often differentiable, and will return a NaN array for all higher orders.

Parameters

[in]	x	Input value of the function or derivative
[in]	derivative	Order of the derivative to be evaluated

Implemented in rl::math::Spline< Quaternion >, rl::math::Spline< T >, rl::math::Polynomial< Quaternion >, rl::math::Polynomial< T >, rl::math::NestedFunction< T2, T >, rl::math::Circular< Vector3 >, and rl::math::Circular< Vector2 >.

upper() [1/2]

template<typename T >

Real& rl::math::Function< T >::upper ( )

inline

upper() [2/2]

template<typename T >

const Real& rl::math::Function< T >::upper ( ) const

inline

Member Data Documentation

x0

template<typename T >

Real rl::math::Function< T >::x0

protected

x1

template<typename T >

Real rl::math::Function< T >::x1

protected

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

• rl/math/Function.h