Class Polynom

Defined in File polynom.hpp

Class Documentation

class bitbots_splines::Polynom

Simple one dimensional polynom class for spline generation

Public Functions

Polynom(): Default and initial degree initialization

explicit Polynom(unsigned int degree)

const std::vector<double> &getCoefs() const: Access to coefficient indexed from constant to higher degree

std::vector<double> &getCoefs()

const double &operator()(size_t index) const: Access to coefficient

double &operator()(size_t index)

size_t degree() const: Return polynom degree -1 mean empty polynom

double pos(double x) const: Polynom evaluation, its first, second and third derivative at given x

double vel(double x) const

double acc(double x) const

double jerk(double x) const

void operator*=(double coef): Some useful operators

void operator+=(const Polynom &p)

void shift(double delta): Update the polynom coefficients by applying delta offset on X abscisse

Private Members

std::vector<double> coefs_: Polynom coefficients