Package org.robwork.sdurw
Class PolynomialNDfFloat
- java.lang.Object
-
- org.robwork.sdurw.PolynomialNDfFloat
-
- Direct Known Subclasses:
Polynomialf
public class PolynomialNDfFloat 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} .
-
-
Constructor Summary
Constructors Constructor Description PolynomialNDfFloat(long order)
Create polynomial with uninitialized coefficients.PolynomialNDfFloat(long cPtr, boolean cMemoryOwn)
PolynomialNDfFloat(VectorFloat coefficients)
Create polynomial from vector.PolynomialNDfFloat(PolynomialNDfFloat p)
Create polynomial from other polynomial.
-
Method Summary
All Methods Static Methods Instance Methods Concrete Methods Modifier and Type Method Description PolynomialNDfFloat
add(PolynomialNDfFloat b)
Polynomial addition.PolynomialNDfFloat
deflate(float x)
Perform deflation of polynomial.void
delete()
PolynomialNDfFloat
derivative()
Get the derivative polynomial.
PolynomialNDfFloat
derivative(long n)
Get the derivative polynomial.PolynomialNDfFloat
devideAssign(float s)
PolynomialNDfFloat
divide(float s)
Scalar divisionboolean
equals(PolynomialNDfFloat b)
Check if polynomials are equal.float
evaluate(float x)
Evaluate the polynomial using Horner's Method.VectorFloat
evaluateDerivatives(float x)
Evaluate the first n derivatives of the polynomial using Horner's Method.VectorFloat
evaluateDerivatives(float x, long n)
Evaluate the first n derivatives of the polynomial using Horner's Method.float
get(long i)
static long
getCPtr(PolynomialNDfFloat 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, float value)
Increase the order of this polynomial.PolynomialNDfFloat
multiply(float s)
Scalar multiplicationPolynomialNDfFloat
multiplyAssign(float s)
PolynomialNDfFloat
negate()
Negate coefficients.long
order()
Get the order of the polynomial (the highest power).void
set(long i, float d)
PolynomialNDfFloat
subtract(PolynomialNDfFloat b)
Polynomial subtraction.java.lang.String
toString()
-
-
-
Constructor Detail
-
PolynomialNDfFloat
public PolynomialNDfFloat(long cPtr, boolean cMemoryOwn)
-
PolynomialNDfFloat
public PolynomialNDfFloat(long order)
Create polynomial with uninitialized coefficients.- Parameters:
order
- [in] the order of the polynomial.
-
PolynomialNDfFloat
public PolynomialNDfFloat(VectorFloat coefficients)
Create polynomial from vector.- Parameters:
coefficients
- [in] the coefficients ordered from lowest-order term to highest-order
term.
-
PolynomialNDfFloat
public PolynomialNDfFloat(PolynomialNDfFloat p)
Create polynomial from other polynomial.- Parameters:
p
- [in] the polynomial to copy.
-
-
Method Detail
-
getCPtr
public static long getCPtr(PolynomialNDfFloat obj)
-
delete
public void delete()
-
order
public long order()
Get the order of the polynomial (the highest power).- Returns:
- the order.
-
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.
-
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.
-
increaseOrder
public void increaseOrder(long increase, float 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.
-
evaluate
public float evaluate(float x)
Evaluate the polynomial using Horner's Method.- Parameters:
x
- [in] the input parameter.- Returns:
- the value f(x) .
-
evaluateDerivatives
public VectorFloat evaluateDerivatives(float 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} .
-
evaluateDerivatives
public VectorFloat evaluateDerivatives(float 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} .
-
deflate
public PolynomialNDfFloat deflate(float 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.
-
derivative
public PolynomialNDfFloat 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.
-
derivative
public PolynomialNDfFloat 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.
-
multiply
public PolynomialNDfFloat multiply(float s)
Scalar multiplication- Parameters:
s
- [in] scalar to multiply with.- Returns:
- new polynomial after multiplication.
-
divide
public PolynomialNDfFloat divide(float s)
Scalar division- Parameters:
s
- [in] scalar to divide with.- Returns:
- new polynomial after division.
-
multiplyAssign
public PolynomialNDfFloat multiplyAssign(float s)
-
devideAssign
public PolynomialNDfFloat devideAssign(float s)
-
subtract
public PolynomialNDfFloat subtract(PolynomialNDfFloat b)
Polynomial subtraction.- Parameters:
b
- [in] polynomial of to subtract.- Returns:
- new polynomial after subtraction.
-
add
public PolynomialNDfFloat add(PolynomialNDfFloat b)
Polynomial addition.- Parameters:
b
- [in] polynomial to add.- Returns:
- new polynomial after addition.
-
negate
public PolynomialNDfFloat negate()
Negate coefficients.- Returns:
- new polynomial with coefficients negated.
-
equals
public boolean equals(PolynomialNDfFloat b)
Check if polynomials are equal.- Parameters:
b
- [in] the polynomial to compare with.- Returns:
- true if equal, false if not.
-
toString
public java.lang.String toString()
- Overrides:
toString
in classjava.lang.Object
-
get
public float get(long i)
-
set
public void set(long i, float d)
-
-