Package org.robwork.sdurw
Class PolynomialNDdDouble
- java.lang.Object
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- org.robwork.sdurw.PolynomialNDdDouble
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- Direct Known Subclasses:
Polynomiald
public class PolynomialNDdDouble extends java.lang.Object
Representation of a polynomial that can have non-scalar coefficients (polynomial
matrix).
Representation of a polynomial of the following form:
f(x) = C_n x^n + C_(n-1) x^(n-1) + C_2 x^2 + C_1 x + C_0
The polynomial is represented as a list of coefficients ordered from lowest-order term to
highest-order term, {c_0,c_1,...,c_n} .
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Constructor Summary
Constructors Constructor Description PolynomialNDdDouble(long order)
Create polynomial with uninitialized coefficients.PolynomialNDdDouble(long cPtr, boolean cMemoryOwn)
PolynomialNDdDouble(VectorDouble coefficients)
Create polynomial from vector.PolynomialNDdDouble(PolynomialNDdDouble p)
Create polynomial from other polynomial.
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Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description PolynomialNDdDouble
add(PolynomialNDdDouble b)
Polynomial addition.PolynomialNDdDouble
deflate(double x)
Perform deflation of polynomial.void
delete()
PolynomialNDdDouble
derivative()
Get the derivative polynomial.
PolynomialNDdDouble
derivative(long n)
Get the derivative polynomial.PolynomialNDdDouble
devideAssign(double s)
PolynomialNDdDouble
divide(double s)
Scalar divisionboolean
equals(PolynomialNDdDouble b)
Check if polynomials are equal.double
evaluate(double x)
Evaluate the polynomial using Horner's Method.VectorDouble
evaluateDerivatives(double x)
Evaluate the first n derivatives of the polynomial using Horner's Method.VectorDouble
evaluateDerivatives(double x, long n)
Evaluate the first n derivatives of the polynomial using Horner's Method.double
get(long i)
static long
getCPtr(PolynomialNDdDouble obj)
void
increaseOrder()
Increase the order of this polynomial.
Note: see increaseOrder(std::size_t,const Coef&) for a version that initializes the new
coefficients to a certain value.void
increaseOrder(long increase)
Increase the order of this polynomial.void
increaseOrder(long increase, double value)
Increase the order of this polynomial.PolynomialNDdDouble
multiply(double s)
Scalar multiplicationPolynomialNDdDouble
multiplyAssign(double s)
PolynomialNDdDouble
negate()
Negate coefficients.long
order()
Get the order of the polynomial (the highest power).void
set(long i, double d)
PolynomialNDdDouble
subtract(PolynomialNDdDouble b)
Polynomial subtraction.java.lang.String
toString()
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Constructor Detail
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PolynomialNDdDouble
public PolynomialNDdDouble(long cPtr, boolean cMemoryOwn)
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PolynomialNDdDouble
public PolynomialNDdDouble(long order)
Create polynomial with uninitialized coefficients.- Parameters:
order
- [in] the order of the polynomial.
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PolynomialNDdDouble
public PolynomialNDdDouble(VectorDouble coefficients)
Create polynomial from vector.- Parameters:
coefficients
- [in] the coefficients ordered from lowest-order term to highest-order
term.
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PolynomialNDdDouble
public PolynomialNDdDouble(PolynomialNDdDouble p)
Create polynomial from other polynomial.- Parameters:
p
- [in] the polynomial to copy.
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Method Detail
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getCPtr
public static long getCPtr(PolynomialNDdDouble obj)
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delete
public void delete()
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order
public long order()
Get the order of the polynomial (the highest power).- Returns:
- the order.
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increaseOrder
public void increaseOrder(long increase)
Increase the order of this polynomial.- Parameters:
increase
- [in] how much to increase the order (default is 1).
Note: see increaseOrder(std::size_t,const Coef&) for a version that initializes the new
coefficients to a certain value.
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increaseOrder
public void increaseOrder()
Increase the order of this polynomial.
Note: see increaseOrder(std::size_t,const Coef&) for a version that initializes the new
coefficients to a certain value.
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increaseOrder
public void increaseOrder(long increase, double value)
Increase the order of this polynomial.- Parameters:
increase
- [in] how much to increase the order (default is 1).value
- [in] initialize new coefficients to this value.
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evaluate
public double evaluate(double x)
Evaluate the polynomial using Horner's Method.- Parameters:
x
- [in] the input parameter.- Returns:
- the value f(x) .
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evaluateDerivatives
public VectorDouble evaluateDerivatives(double x, long n)
Evaluate the first n derivatives of the polynomial using Horner's Method.- Parameters:
x
- [in] the input parameter.n
- [in] the number of derivatives to find (default is the first derivative only)- Returns:
- a vector of values {f(x),\dot{f}(x),\ddot{f}(x),\cdots} .
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evaluateDerivatives
public VectorDouble evaluateDerivatives(double x)
Evaluate the first n derivatives of the polynomial using Horner's Method.- Parameters:
x
- [in] the input parameter.
- Returns:
- a vector of values {f(x),\dot{f}(x),\ddot{f}(x),\cdots} .
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deflate
public PolynomialNDdDouble deflate(double x)
Perform deflation of polynomial.- Parameters:
x
- [in] a root of the polynomial.- Returns:
- a new polynomial of same order minus one.
Note: There is no check that the given root is in fact a root of the polynomial.
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derivative
public PolynomialNDdDouble derivative(long n)
Get the derivative polynomial.- Parameters:
n
- [in] gives the n'th derivative (default is n=1).- Returns:
- a new polynomial of same order minus one.
Note: To evaluate derivatives use the evaluate derivative method which is more precise.
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derivative
public PolynomialNDdDouble derivative()
Get the derivative polynomial.
- Returns:
- a new polynomial of same order minus one.
Note: To evaluate derivatives use the evaluate derivative method which is more precise.
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multiply
public PolynomialNDdDouble multiply(double s)
Scalar multiplication- Parameters:
s
- [in] scalar to multiply with.- Returns:
- new polynomial after multiplication.
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divide
public PolynomialNDdDouble divide(double s)
Scalar division- Parameters:
s
- [in] scalar to divide with.- Returns:
- new polynomial after division.
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multiplyAssign
public PolynomialNDdDouble multiplyAssign(double s)
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devideAssign
public PolynomialNDdDouble devideAssign(double s)
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subtract
public PolynomialNDdDouble subtract(PolynomialNDdDouble b)
Polynomial subtraction.- Parameters:
b
- [in] polynomial of to subtract.- Returns:
- new polynomial after subtraction.
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add
public PolynomialNDdDouble add(PolynomialNDdDouble b)
Polynomial addition.- Parameters:
b
- [in] polynomial to add.- Returns:
- new polynomial after addition.
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negate
public PolynomialNDdDouble negate()
Negate coefficients.- Returns:
- new polynomial with coefficients negated.
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equals
public boolean equals(PolynomialNDdDouble b)
Check if polynomials are equal.- Parameters:
b
- [in] the polynomial to compare with.- Returns:
- true if equal, false if not.
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toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
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get
public double get(long i)
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set
public void set(long i, double d)
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