/usr/include/SurgSim/Math/PolynomialValues.h is in libopensurgsim-dev 0.7.0-5.
This file is owned by root:root, with mode 0o644.
The actual contents of the file can be viewed below.
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_MATH_POLYNOMIALVALUES_H
#define SURGSIM_MATH_POLYNOMIALVALUES_H
#include "SurgSim/Math/Polynomial.h"
#include "SurgSim/Math/PolynomialRoots.h"
#include "SurgSim/Math/IntervalArithmetic.h"
#include "SurgSim/Math/MinMax.h"
namespace SurgSim
{
namespace Math
{
/// Class to manage polynomial based calculations of interval boundaries.
///
/// \tparam T type of the coefficients and computations
/// \tparam N degree of the polynomial being managed
template <typename T, int N> class PolynomialValues;
/// PolynomialValues<T, 0> specializes the PolynomialValues class for degree 0 (constant polynomials)
/// \sa PolynomialValues<T, N>
template <class T>
class PolynomialValues<T, 0>
{
public:
/// Constructor. Initialize based on the polynomial p
/// \param p polynomial on which the value calculations are based
explicit PolynomialValues(const Polynomial<T, 0>& p);
/// \return the polynomial basis of this calculation
const Polynomial<T, 0>& getPolynomial() const;
/// \param interval an interval on the independent variable over which the
/// values are to be calculated
/// \return the minimum and maximum polynomial values over interval
Interval<T> valuesOverInterval(const Interval<T>& interval) const;
private:
/// The polynomial under consideration
Polynomial<T, 0> m_polynomial;
};
/// PolynomialValues<T, 1> specializes the PolynomialValues class for degree 1 (linear polynomials)
/// \sa PolynomialValues<T, N>
template <class T>
class PolynomialValues<T, 1>
{
public:
/// Constructor. Initialize based on the polynomial p
/// \param p polynomial on which the value calculations are based
explicit PolynomialValues(const Polynomial<T, 1>& p);
/// \return the polynomial basis of this calculation
const Polynomial<T, 1>& getPolynomial() const;
/// \param interval an interval on the independent variable over which the
/// values are to be calculated
/// \return the minimum and maximum polynomial values over interval
Interval<T> valuesOverInterval(const Interval<T>& interval) const;
private:
/// The polynomial under consideration
Polynomial<T, 1> m_polynomial;
};
/// PolynomialValues<T, 2> specializes the PolynomialValues class for degree 2 (quadratic polynomials)
/// \sa PolynomialValues<T, N>
template <class T>
class PolynomialValues<T, 2>
{
public:
/// Constructor. Initialize based on the polynomial p
/// \param p polynomial on which the value calculations are based
explicit PolynomialValues(const Polynomial<T, 2>& p);
/// \return the polynomial basis of this calculation
const Polynomial<T, 2>& getPolynomial() const;
/// \return the derivative of the polynomial basis for this calculation
const Polynomial<T, 1>& getDerivative() const;
/// \return the locations of the extrema for the polynomial
const PolynomialRoots<T, 1>& getLocationsOfExtrema() const;
/// \param interval an interval on the independent variable over which the
/// values are to be calculated
/// \return the minimum and maximum polynomial values over interval
Interval<T> valuesOverInterval(const Interval<T>& interval) const;
private:
/// The polynomial under consideration
Polynomial<T, 2> m_polynomial;
/// Cached version of the derivative of the polynomial
Polynomial<T, 1> m_derivative;
/// Cached version of the locations of the extrema
PolynomialRoots<T, 1> m_locationOfExtremum;
};
/// PolynomialValues<T, 3> specializes the PolynomialValues class for degree 3 (cubic polynomials)
/// \sa PolynomialValues<T, N>
template <class T>
class PolynomialValues<T, 3>
{
public:
/// Constructor. Initialize based on the polynomial p
/// \param p polynomial on which the value calculations are based
explicit PolynomialValues(const Polynomial<T, 3>& p);
/// \return the polynomial basis of this calculation
const Polynomial<T, 3>& getPolynomial() const;
/// \return the derivative of the polynomial basis for this calculation
const Polynomial<T, 2>& getDerivative() const;
/// \return the locations of the extrema for the polynomial
const PolynomialRoots<T, 2>& getLocationsOfExtrema() const;
/// \param interval an interval on the independent variable over which the
/// values are to be calculated
/// \return the minimum and maximum polynomial values over interval
Interval<T> valuesOverInterval(const Interval<T>& interval) const;
private:
/// The polynomial under consideration
Polynomial<T, 3> m_polynomial;
/// Cached version of the derivative of the polynomial
Polynomial<T, 2> m_derivative;
/// Cached version of the locations of the extrema
PolynomialRoots<T, 2> m_locationOfExtremum;
};
/// Calculate the minimum and maximum values of the dependent variable over a specified
/// range of the independent variable
/// \tparam N degree of the polynomial being managed
/// \tparam T type of the coefficients and computations
/// \param p polynomial on which the value calculations are based
/// \param interval an interval on the independent variable over which the
/// values are to be calculated
/// \return the minimum and maximum polynomial values over interval
template <class T, int N>
Interval<T> valuesOverInterval(const Polynomial<T, N>& p, const Interval<T>& interval);
}; // Math
}; // SurgSim
#include "SurgSim/Math/PolynomialValues-inl.h"
#endif // SURGSIM_MATH_POLYNOMIALVALUES_H
|