#include <PolynomialQuaternion.h>

Inheritance diagram for rl::math::Polynomial< Quaternion >:

Public Member Functions
	Polynomial (const ::std::size_t &degree)

virtual	~Polynomial ()

Polynomial< Quaternion > *	clone () const

Vector3 &	coefficient (const ::std::size_t &i)

const Vector3 &	coefficient (const ::std::size_t &i) const

::std::size_t	degree () const

Real	duration () const

Real &	lower ()

const Real &	lower () const

Quaternion	operator() (const Real &x, const ::std::size_t &derivative=0) const
	Evaluates the function or a derivative thereof for a given value x. More...

Real &	upper ()

const Real &	upper () const

Public Member Functions inherited from rl::math::Function< Quaternion >
	Function ()

virtual	~Function ()

virtual Function *	clone () const=0

Real	duration () const

Real &	lower ()

const Real &	lower () const

Real &	upper ()

const Real &	upper () const

Static Public Member Functions
static Polynomial< Quaternion >	CubicFirst (const Quaternion &y0, const Quaternion &y1, const Vector3 &yd0, const Vector3 &yd1, const Real &x1=1)

static Polynomial< Quaternion >	Linear (const Quaternion &y0, const Quaternion &y1, const Real &x1=1)

Public Attributes
Quaternion	y0

Protected Attributes
::std::vector< Vector3 >	c

Real	x0

Real	x1

Protected Attributes inherited from rl::math::Function< Quaternion >
Real	x0

Real	x1

Private Member Functions
Polynomial< Quaternion >	derivative () const

Vector3	eval (const Real &x) const

Static Private Member Functions
static Vector3	invB (const Vector3 &e, const Real &dtheta, const Vector3 &x)

Constructor & Destructor Documentation

◆ Polynomial()

rl::math::Polynomial< Quaternion >::Polynomial ( const ::std::size_t & degree )

inline

◆ ~Polynomial()

virtual rl::math::Polynomial< Quaternion >::~Polynomial ( )

inlinevirtual

Member Function Documentation

◆ clone()

Polynomial<Quaternion>* rl::math::Polynomial< Quaternion >::clone ( ) const

inline

◆ coefficient() [1/2]

Vector3& rl::math::Polynomial< Quaternion >::coefficient ( const ::std::size_t & i )

inline

◆ coefficient() [2/2]

const Vector3& rl::math::Polynomial< Quaternion >::coefficient ( const ::std::size_t & i ) const

inline

◆ CubicFirst()

static Polynomial<Quaternion> rl::math::Polynomial< Quaternion >::CubicFirst	(	const Quaternion &	y0,
		const Quaternion &	y1,
		const Vector3 &	yd0,
		const Vector3 &	yd1,
		const Real &	x1 = `1`
	)

inlinestatic

◆ degree()

::std::size_t rl::math::Polynomial< Quaternion >::degree ( ) const

inline

◆ derivative()

Polynomial<Quaternion> rl::math::Polynomial< Quaternion >::derivative ( ) const

inlineprivate

◆ duration()

Real rl::math::Polynomial< Quaternion >::duration ( ) const

inline

◆ eval()

Vector3 rl::math::Polynomial< Quaternion >::eval ( const Real & x ) const

inlineprivate

◆ invB()

static Vector3 rl::math::Polynomial< Quaternion >::invB	(	const Vector3 &	e,
		const Real &	dtheta,
		const Vector3 &	x
	)

inlinestaticprivate

◆ Linear()

static Polynomial<Quaternion> rl::math::Polynomial< Quaternion >::Linear	(	const Quaternion &	y0,
		const Quaternion &	y1,
		const Real &	x1 = `1`
	)

inlinestatic

◆ lower() [1/2]

Real& rl::math::Polynomial< Quaternion >::lower ( )

inline

◆ lower() [2/2]

const Real& rl::math::Polynomial< Quaternion >::lower ( ) const

inline

◆ operator()()

Quaternion rl::math::Polynomial< Quaternion >::operator()	(	const Real &	x,
		const ::std::size_t &	derivative = `0`
	)		const

inlinevirtual

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