A scalar multi-variate piecewise polynomial. More...

#include <drake/systems/trajectories/PiecewisePolynomial.h>

Inheritance diagram for PiecewisePolynomial< CoefficientType >:

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Public Types
typedef Polynomial< CoefficientType >	PolynomialType

typedef Eigen::Matrix< PolynomialType, Eigen::Dynamic, Eigen::Dynamic >	PolynomialMatrix

typedef Eigen::Matrix< CoefficientType, Eigen::Dynamic, Eigen::Dynamic >	CoefficientMatrix

typedef Eigen::Ref< CoefficientMatrix >	CoefficientMatrixRef

Public Member Functions
virtual	~PiecewisePolynomial ()

	PiecewisePolynomial ()

template<typename Derived >
	PiecewisePolynomial (const Eigen::MatrixBase< Derived > &value)

	PiecewisePolynomial (std::vector< PolynomialMatrix > const &polynomials, std::vector< double > const &segment_times)

	PiecewisePolynomial (std::vector< PolynomialType > const &polynomials, std::vector< double > const &segment_times)

PiecewisePolynomial	derivative (int derivative_order=1) const
	Takes the derivative of this PiecewisePolynomial. More...

PiecewisePolynomial	integral (double value_at_start_time=0.0) const
	Takes the integral of this PiecewisePolynomial. More...

PiecewisePolynomial	integral (const CoefficientMatrixRef &value_at_start_time) const
	Takes the integral of this PiecewisePolynomial. More...

double	scalarValue (double t, Eigen::Index row=0, Eigen::Index col=0)

Eigen::Matrix< double, Eigen::Dynamic, Eigen::Dynamic >	value (double t) const

const PolynomialMatrix &	getPolynomialMatrix (int segment_index) const

const PolynomialType &	getPolynomial (int segment_index, Eigen::Index row=0, Eigen::Index col=0) const

virtual int	getSegmentPolynomialDegree (int segment_index, Eigen::Index row=0, Eigen::Index col=0) const

virtual Eigen::Index	rows () const

virtual Eigen::Index	cols () const

PiecewisePolynomial &	operator+= (const PiecewisePolynomial &other)

PiecewisePolynomial &	operator-= (const PiecewisePolynomial &other)

PiecewisePolynomial &	operator*= (const PiecewisePolynomial &other)

PiecewisePolynomial &	operator+= (const CoefficientMatrix &offset)

PiecewisePolynomial &	operator-= (const CoefficientMatrix &offset)

const PiecewisePolynomial	operator+ (const PiecewisePolynomial &other) const

const PiecewisePolynomial	operator- (const PiecewisePolynomial &other) const

const PiecewisePolynomial	operator* (const PiecewisePolynomial &other) const

const PiecewisePolynomial	operator+ (const CoefficientMatrix &offset) const

const PiecewisePolynomial	operator- (const CoefficientMatrix &offset) const

bool	isApprox (const PiecewisePolynomial &other, double tol) const
	Checks if a PiecewisePolynomial is approximately equal to this one. More...

void	shiftRight (double offset)

void	setPolynomialMatrixBlock (const PolynomialMatrix &replacement, int segment_number, Eigen::Index row_start=0, Eigen::Index col_start=0)

PiecewisePolynomial	slice (int start_segment_index, int num_segments)

Public Member Functions inherited from PiecewisePolynomialBase
	PiecewisePolynomialBase (std::vector< double > const &segment_times)

virtual	~PiecewisePolynomialBase ()

int	getNumberOfCoefficients (int segment_number, Eigen::Index row=0, Eigen::Index col=0) const

int	getTotalNumberOfCoefficients (Eigen::Index row=0, Eigen::Index col=0) const

Public Member Functions inherited from PiecewiseFunction
	PiecewiseFunction (std::vector< double > const &segment_times)

virtual	~PiecewiseFunction ()

int	getNumberOfSegments () const

double	getStartTime (int segment_number) const

double	getEndTime (int segment_number) const

double	getDuration (int segment_number) const

double	getStartTime () const

double	getEndTime () const

int	getSegmentIndex (double t) const

const std::vector< double > &	getSegmentTimes () const

void	segmentNumberRangeCheck (int segment_number) const

Static Public Member Functions
static PiecewisePolynomial	random (Eigen::Index rows, Eigen::Index cols, Eigen::Index num_coefficients_per_polynomial, const std::vector< double > &segment_times)
	Obtains a random PiecewisePolynomial of the specified size. More...

Static Public Member Functions inherited from PiecewiseFunction
static std::vector< double >	randomSegmentTimes (int num_segments, std::default_random_engine &generator)

Protected Member Functions
double	segmentValueAtGlobalAbscissa (int segment_index, double t, Eigen::Index row, Eigen::Index col) const

Protected Member Functions inherited from PiecewisePolynomialBase
	PiecewisePolynomialBase ()

Protected Member Functions inherited from PiecewiseFunction
bool	segmentTimesEqual (const PiecewiseFunction &b, double tol) const

void	checkScalarValued () const

	PiecewiseFunction ()

Additional Inherited Members
Protected Attributes inherited from PiecewiseFunction
std::vector< double >	segment_times

Detailed Description

template<typename CoefficientType = double>
class PiecewisePolynomial< CoefficientType >

A scalar multi-variate piecewise polynomial.

PiecewisePolynomial represents a list of contiguous segments in time with a Polynomial defined for each segment.

An example of a piecewise function is the absolute value function:

int abs(int x)
{
  if (x<0) {
    return -x;
  }
  else return x;
}

PiecewisePolynomials can be added, subtracted, and multiplied. They cannot be divided because Polynomials are not closed under division.

Member Typedef Documentation

typedef Eigen::Matrix<CoefficientType, Eigen::Dynamic, Eigen::Dynamic> CoefficientMatrix

typedef Eigen::Ref<CoefficientMatrix> CoefficientMatrixRef

typedef Eigen::Matrix<PolynomialType, Eigen::Dynamic, Eigen::Dynamic> PolynomialMatrix

typedef Polynomial<CoefficientType> PolynomialType

Constructor & Destructor Documentation

virtual ~PiecewisePolynomial ( )

inlinevirtual

PiecewisePolynomial ( )

PiecewisePolynomial ( const Eigen::MatrixBase< Derived > & value )

inlineexplicit

PiecewisePolynomial	(	std::vector< PolynomialMatrix > const &	polynomials,
		std::vector< double > const &	segment_times
	)

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PiecewisePolynomial	(	std::vector< PolynomialType > const &	polynomials,
		std::vector< double > const &	segment_times
	)

Member Function Documentation

Eigen::Index cols ( ) const

virtual

Implements PiecewiseFunction.

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PiecewisePolynomial< CoefficientType > derivative ( int derivative_order = 1 ) const

Takes the derivative of this PiecewisePolynomial.

Returns a PiecewisePolynomial where each segment is the derivative of the segment in the input PiecewisePolynomial. Any rules or limitations of Polynomial::derivative also apply to this function.

If derivative_order is given, takes the nth derivative of this PiecewisePolynomial.

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const Polynomial< CoefficientType > & getPolynomial	(	int	segment_index,
		Eigen::Index	row = `0`,
		Eigen::Index	col = `0`
	)		const

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const PiecewisePolynomial< CoefficientType >::PolynomialMatrix & getPolynomialMatrix ( int segment_index ) const

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int getSegmentPolynomialDegree	(	int	segment_index,
		Eigen::Index	row = `0`,
		Eigen::Index	col = `0`
	)		const

virtual

Implements PiecewisePolynomialBase.

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PiecewisePolynomial< CoefficientType > integral ( double value_at_start_time = 0.0 ) const

Takes the integral of this PiecewisePolynomial.

Returns a PiecewisePolynomial that is the indefinite integral of this one. Any rules or limitations of Polynomial::integral also apply to this function.

If value_at_start_time is given, it does the following only for the first segment: adds that constant as the constant term (zeroth-order coefficient) of the resulting Polynomial.

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PiecewisePolynomial integral ( const CoefficientMatrixRef & value_at_start_time ) const

Takes the integral of this PiecewisePolynomial.

Returns a PiecewisePolynomial that is the indefinite integral of this one. Any rules or limitations of Polynomial::integral also apply to this function.

If value_at_start_time is given, it does the following only for the first segment: adds value_at_start_time(row,col) as the constant term (zeroth-order coefficient) of the resulting Polynomial.

bool isApprox	(	const PiecewisePolynomial< CoefficientType > &	other,
		double	tol
	)		const

Checks if a PiecewisePolynomial is approximately equal to this one.

Checks that every coefficient of other is within tol of the corresponding coefficient of this PiecewisePolynomial. Throws an exception if any Polynomial in either PiecewisePolynomial is not univariate.

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const PiecewisePolynomial< CoefficientType > operator* ( const PiecewisePolynomial< CoefficientType > & other ) const

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PiecewisePolynomial< CoefficientType > & operator*= ( const PiecewisePolynomial< CoefficientType > & other )

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const PiecewisePolynomial< CoefficientType > operator+ ( const PiecewisePolynomial< CoefficientType > & other ) const

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const PiecewisePolynomial operator+ ( const CoefficientMatrix & offset ) const

PiecewisePolynomial< CoefficientType > & operator+= ( const PiecewisePolynomial< CoefficientType > & other )

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PiecewisePolynomial& operator+= ( const CoefficientMatrix & offset )

const PiecewisePolynomial< CoefficientType > operator- ( const PiecewisePolynomial< CoefficientType > & other ) const

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const PiecewisePolynomial operator- ( const CoefficientMatrix & offset ) const

PiecewisePolynomial< CoefficientType > & operator-= ( const PiecewisePolynomial< CoefficientType > & other )

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PiecewisePolynomial& operator-= ( const CoefficientMatrix & offset )

PiecewisePolynomial< CoefficientType > random	(	Eigen::Index	rows,
		Eigen::Index	cols,
		Eigen::Index	num_coefficients_per_polynomial,
		const std::vector< double > &	segment_times
	)