Function_< T > Class Template Reference

#include <Function.h>

Inheritance diagram for Function_< T >:

Data Structures
class	Constant
class	Linear
class	Polynomial
class	Sinusoid
class	Step

Public Member Functions
virtual	~Function_ ()
virtual T	calcValue (const RigidBodyDynamics::Math::VectorNd &x) const =0
virtual T	calcDerivative (const std::vector< int > &derivComponents, const RigidBodyDynamics::Math::VectorNd &x) const =0
virtual int	getArgumentSize () const =0
virtual int	getMaxDerivativeOrder () const =0

Detailed Description

template<class T>
class RigidBodyDynamics::Addons::Geometry::Function_< T >

Definition at line 71 of file Function.h.

Constructor & Destructor Documentation

~Function_()

virtual ~Function_ ( )

inlinevirtual

Definition at line 78 of file Function.h.

Member Function Documentation

calcDerivative()

virtual T calcDerivative ( const std::vector< int > &  derivComponents, const RigidBodyDynamics::Math::VectorNd &  x  ) const

pure virtual

Calculate a partial derivative of this function at a particular point.
Which derivative to take is specified by listing the input components with which to take it. For example, if derivComponents=={0}, that indicates a first derivative with respective to component 0. If derivComponents=={0, 0, 0}, that indicates a third derivative with respective to component 0. If derivComponents=={4, 7}, that indicates a partial second derivative with respect to components 4 and 7.

Parameters

derivComponents	The input components with respect to which the derivative should be taken. Its size must be less than or equal to the value returned by getMaxDerivativeOrder().
x	The RigidBodyDynamics::Math::VectorNd of input arguments. Its size must equal the value returned by getArgumentSize().

Returns

The value of the selected derivative, which is of type T.

Implemented in Function_< T >::Constant, Function_< T >::Linear, Function_< T >::Polynomial, Function_< T >::Sinusoid, SmoothSegmentedFunction, and Function_< T >::Step.

calcValue()

virtual T calcValue ( const RigidBodyDynamics::Math::VectorNd &  x ) const

pure virtual

Calculate the value of this function at a particular point.

Parameters

x	the RigidBodyDynamics::Math::VectorNd of input arguments. Its size must equal the value returned by getArgumentSize().

Implemented in Function_< T >::Constant, Function_< T >::Linear, Function_< T >::Polynomial, Function_< T >::Sinusoid, SmoothSegmentedFunction, and Function_< T >::Step.

getArgumentSize()

virtual int getArgumentSize ( ) const

pure virtual

This provides compatibility with std::vector without requiring any copying. Get the number of components expected in the input vector.

Implemented in Function_< T >::Constant, Function_< T >::Linear, Function_< T >::Polynomial, Function_< T >::Sinusoid, Function_< T >::Step, and SmoothSegmentedFunction.

getMaxDerivativeOrder()

virtual int getMaxDerivativeOrder ( ) const

pure virtual

Get the maximum derivative order this Function_ object can calculate.

Implemented in Function_< T >::Constant, Function_< T >::Linear, Function_< T >::Polynomial, Function_< T >::Sinusoid, Function_< T >::Step, and SmoothSegmentedFunction.

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

• addons/geometry/Function.h