This class realizes polynomials of degree three as required for the Type II On-Line Trajectory Generation algorithm. More...

#include <TypeIIRMLPolynomial.h>

Public Member Functions
	TypeIIRMLPolynomial (void)
	Constructor of the class TypeIIRMLPolynomial.
	~TypeIIRMLPolynomial (void)
	Destructor of the class TypeIIRMLPolynomial.
void	SetCoefficients (const double &Coeff2, const double &Coeff1, const double &Coeff0, const double &Diff)
	Sets the coefficients of the polynomial object.
void	GetCoefficients (double Coeff2, double Coeff1, double Coeff0, double Diff) const
	Returns the coefficients of the polynomial object.
void	CalculateRealRoots (unsigned int NumberOfRoots, double Root1, double *Root2) const
	Calculates the real roots of the polynomial specified by the attributes of this object.
double	CalculateValue (const double &t) const
	Calculates the function value at of the polynomial specified by the attributes of this object.
Public Attributes
unsigned int	Degree
	Positive integer number that defines the degree of the current polynomial.
double	a2
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .
double	a1
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .
double	a0
	Parameter of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .
double	DeltaT
	Parameter $\Delta T$ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Detailed Description

This class realizes polynomials of degree three as required for the Type II On-Line Trajectory Generation algorithm.

See also:: struct MotionPolynomials

Constructor & Destructor Documentation

TypeIIRMLMath::TypeIIRMLPolynomial::TypeIIRMLPolynomial ( void )

Constructor of the class TypeIIRMLPolynomial.

TypeIIRMLMath::TypeIIRMLPolynomial::~TypeIIRMLPolynomial ( void )

Destructor of the class TypeIIRMLPolynomial.

Member Function Documentation

void TypeIIRMLMath::TypeIIRMLPolynomial::CalculateRealRoots	(	unsigned int *	NumberOfRoots,
		double *	Root1,
		double *	Root2
	)		const

Calculates the real roots of the polynomial specified by the attributes of this object.

Calculates up to three roots of the polynomial of degree two $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ , that is $f(t) = (t - r_1) \cdot (t - r_2)$ , where $ r_1 $ and $ r_2 $ are the desired roots of the current polynomial function.

Parameters:

NumberOfRoots	A pointer to the value of the number of roots (0...2)
Root1	A pointer to the value of the first root (only valid for polynomials of degree one and higher)
Root2	A pointer to the value of the second root (only valid for polynomials of degree two)

double TypeIIRMLMath::TypeIIRMLPolynomial::CalculateValue ( const double & t ) const

Calculates the function value at $ t $ of the polynomial specified by the attributes of this object.

Calculates the function value of $ f(t) $ at $t$
$f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters:

t	function input value

Returns:: The function value at

void TypeIIRMLMath::TypeIIRMLPolynomial::GetCoefficients	(	double *	Coeff2,
		double *	Coeff1,
		double *	Coeff0,
		double *	Diff
	)		const

Returns the coefficients of the polynomial object.

Gets the coefficients for the polynomial of degree three $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters:

Coeff2	$\ \Longrightarrow \ a_2$
Coeff1	$\ \Longrightarrow \ a_1$
Coeff0	$\ \Longrightarrow \ a_0$
Diff	$\ \Longrightarrow \ \Delta T$

void TypeIIRMLMath::TypeIIRMLPolynomial::SetCoefficients	(	const double &	Coeff2,
		const double &	Coeff1,
		const double &	Coeff0,
		const double &	Diff
	)

Sets the coefficients of the polynomial object.

Sets the coefficients for the polynomial of degree three $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

Parameters:

Coeff2	$\ \Longrightarrow \ a_2$
Coeff1	$\ \Longrightarrow \ a_1$
Coeff0	$\ \Longrightarrow \ a_0$
Diff	$\ \Longrightarrow \ \Delta T$

Member Data Documentation

double TypeIIRMLMath::TypeIIRMLPolynomial::a0

Parameter $ a_0 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

double TypeIIRMLMath::TypeIIRMLPolynomial::a1

Parameter $ a_1 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

double TypeIIRMLMath::TypeIIRMLPolynomial::a2

Parameter $ a_2 $ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

unsigned int TypeIIRMLMath::TypeIIRMLPolynomial::Degree

Positive integer number that defines the degree of the current polynomial.

double TypeIIRMLMath::TypeIIRMLPolynomial::DeltaT

Parameter $\Delta T$ of the polynomial function $f(t) = a_2 \cdot (t - \Delta T)^2 + a_1 \cdot (t - \Delta T) + a_0$ .

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

include/TypeIIRMLPolynomial.h
src/TypeIIRML/TypeIIRMLPolynomial.cpp

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation