Template Class Polynomial¶
Defined in File polynomial.h
Class Documentation¶
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template<int _N, class ScalarT = double>
class mav_planning_utils::Polynomial¶ Public Types
Public Functions
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inline Polynomial()¶
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template<class Derived>
inline void setCoefficients(const Eigen::MatrixBase<Derived> &coeffs)¶ sets up the internal representation from coeffs coefficients are stored in increasing order with the power of t, i.e.
c1 + c2*t + c3*t^2 ==> coeffs = [c1 c2 c3]
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template<class Derived>
inline void evaluate(const Eigen::MatrixBase<Derived> &result, Scalar t) const¶ evaluates the polynomial at time t and writes the result to result
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inline void evaluate(Scalar &result, Scalar t, int derivative) const¶
evaluates the specified derivative of the polynomial at time t and writes the result to result
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inline Scalar evaluate(Scalar t, int derivative) const¶
evaluates the specified derivative of the polynomial at time t and returns the result
Public Static Functions
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template<class Derived>
static inline void quadraticCostJacobian(const Eigen::MatrixBase<Derived> &C, Scalar t, int derivative)¶ Computes the jacobian of the integral over the squared derivative.
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C – [out] jacobian to write into, can be any fixed-size block expression
t – [in] time of evaluation
derivative – [in] used to compute the cost
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static inline MatrixSq quadraticCostJacobian(Scalar t, int derivative)¶
convenience method to compute the jacobin of the quadratic cost
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template<class Derived>
static inline void baseCoeffsWithTime(const Eigen::MatrixBase<Derived> &coeffs, int derivative, Scalar t)¶ Computes the base coefficients with the according powers of t, as e.g.
needed for computation of (in)equality constraints
- Parameters
coeffs – [out] vector to write the coefficients to
derivative – [in] of the polynomial for which the coefficients have to be computed
t – [in] time of evaluation
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inline Polynomial()¶