FCL  0.6.0
Flexible Collision Library
Public Member Functions | List of all members
fcl::TaylorModel< S > Class Template Reference

TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. All the operations on two Taylor models assume their time intervals are the same. More...

#include <taylor_model.h>

Public Member Functions

void setTimeInterval (S l, S r)
 
void setTimeInterval (const std::shared_ptr< TimeInterval< S >> &time_interval)
 
const std::shared_ptr< TimeInterval< S > > & getTimeInterval () const
 
S coeff (std::size_t i) const
 
S & coeff (std::size_t i)
 
const Interval< S > & remainder () const
 
Interval< S > & remainder ()
 
 TaylorModel (const std::shared_ptr< TimeInterval< S >> &time_interval)
 
 TaylorModel (S coeff, const std::shared_ptr< TimeInterval< S >> &time_interval)
 
 TaylorModel (S coeffs[3], const Interval< S > &r, const std::shared_ptr< TimeInterval< S >> &time_interval)
 
 TaylorModel (S c0, S c1, S c2, S c3, const Interval< S > &r, const std::shared_ptr< TimeInterval< S >> &time_interval)
 
TaylorModel operator+ (const TaylorModel &other) const
 
TaylorModel & operator+= (const TaylorModel &other)
 
TaylorModel operator- (const TaylorModel &other) const
 
TaylorModel & operator-= (const TaylorModel &other)
 
TaylorModel operator+ (S d) const
 
TaylorModel & operator+= (S d)
 
TaylorModel operator- (S d) const
 
TaylorModel & operator-= (S d)
 
TaylorModel operator* (const TaylorModel &other) const
 Taylor model multiplication: f(t) = c0+c1*t+c2*t^2+c3*t^3+[a,b] g(t) = c0'+c1'*t+c2'*t^2+c3'*t^2+[c,d] f(t)g(t)= c0c0'+ (c0c1'+c1c0')t+ (c0c2'+c1c1'+c2c0')t^2+ (c0c3'+c1c2'+c2c1'+c3c0')t^3+ [a,b][c,d]+ (c1c3'+c2c2'+c3c1')t^4+ (c2c3'+c3c2')t^5+ (c3c3')t^6+ (c0+c1*t+c2*t^2+c3*t^3)[c,d]+ (c0'+c1'*t+c2'*t^2+c3'*c^3)[a,b].
 
TaylorModel operator* (S d) const
 
TaylorModel & operator*= (const TaylorModel &other)
 
TaylorModel & operator*= (S d)
 
TaylorModel operator- () const
 
void print () const
 
Interval< S > getBound () const
 
Interval< S > getBound (S l, S r) const
 
Interval< S > getTightBound () const
 
Interval< S > getTightBound (S l, S r) const
 
Interval< S > getBound (S t) const
 
void setZero ()
 

Detailed Description

template<typename S>
class fcl::TaylorModel< S >

TaylorModel implements a third order Taylor model, i.e., a cubic approximation of a function over a time interval, with an interval remainder. All the operations on two Taylor models assume their time intervals are the same.

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