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fcl::TaylorModel

fcl::TaylorModel Struct 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>

List of all members.


Public Member Functions

void setTimeInterval (FCL_REAL l, FCL_REAL r)
void setTimeInterval (const boost::shared_ptr< TimeInterval > time_interval)
 TaylorModel ()
 TaylorModel (const boost::shared_ptr< TimeInterval > &time_interval)
 TaylorModel (FCL_REAL coeff, const boost::shared_ptr< TimeInterval > &time_interval)
 TaylorModel (FCL_REAL coeffs[3], const Interval &r, const boost::shared_ptr< TimeInterval > &time_interval)
 TaylorModel (FCL_REAL c0, FCL_REAL c1, FCL_REAL c2, FCL_REAL c3, const Interval &r, const boost::shared_ptr< TimeInterval > &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+ (FCL_REAL d) const
TaylorModel & operator+= (FCL_REAL 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 * (FCL_REAL d) const
TaylorModel & operator *= (const TaylorModel &other)
TaylorModel & operator *= (FCL_REAL d)
TaylorModel operator- () const
void print () const
Interval getBound () const
Interval getBound (FCL_REAL l, FCL_REAL r) const
Interval getTightBound () const
Interval getTightBound (FCL_REAL l, FCL_REAL r) const
Interval getBound (FCL_REAL t) const
void setZero ()

Public Attributes

boost::shared_ptr< TimeInterval > time_interval_
 time interval
FCL_REAL coeffs_ [4]
 Coefficients of the cubic polynomial approximation.
Interval r_
 interval remainder

Detailed Description

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.

Definition at line 60 of file taylor_model.h.

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