us.ihmc.utilities.math.dataStructures
Class Polynomial

java.lang.Object
  extended by us.ihmc.utilities.math.dataStructures.Polynomial

public class Polynomial
extends java.lang.Object

Polynomial

Polynomial Function with real coefficients. Immuatable.

Copyright (c) 2008

IHMC-Yobotics

Version:
1.0
Author:
IHMC-Yobotics Biped Team

Constructor Summary
Polynomial(double constant)
           
Polynomial(double[] coefficientsHighOrderFirst)
           
Polynomial(double coefficient1, double constant)
           
Polynomial(double coefficient2, double coefficient1, double constant)
           
Polynomial(double coefficient3, double coefficient2, double coefficient1, double constant)
           
 
Method Summary
static Polynomial constructFromComplexPairRoot(ComplexNumber oneComplexRoot)
           
static Polynomial constructFromRealRoot(double realRoot)
           
static Polynomial constructFromScaleFactorAndRoots(double scaleFactor, double[] realRoots, ComplexNumber[] complexRootPairs)
           
 boolean epsilonEquals(Polynomial polynomial, double epsilon)
           
 boolean equalsZero()
           
 ComplexNumber evaluate(ComplexNumber input)
           
 double evaluate(double input)
           
 double evaluateDerivative(double input)
           
 double evaluateDoubleDerivative(double input)
           
 double[] getCoefficients()
           
 double[] getDerivativeCoefficients()
           
 double[] getDoubleDerivativeCoefficients()
           
 int getOrder()
           
 Polynomial plus(Polynomial polynomial)
           
 void setCubic(double x0, double x1, double y0, double yd0, double y1, double yd1)
           
 void setQuintic(double x0, double x1, double y0, double yd0, double ydd0, double y1, double yd1, double ydd1)
           
 Polynomial times(double multiplier)
           
 Polynomial times(Polynomial polynomialB)
           
 java.lang.String toString()
           
 
Methods inherited from class java.lang.Object
equals, getClass, hashCode, notify, notifyAll, wait, wait, wait
 

Constructor Detail

Polynomial

public Polynomial(double constant)

Polynomial

public Polynomial(double coefficient1,
                  double constant)

Polynomial

public Polynomial(double coefficient2,
                  double coefficient1,
                  double constant)

Polynomial

public Polynomial(double coefficient3,
                  double coefficient2,
                  double coefficient1,
                  double constant)

Polynomial

public Polynomial(double[] coefficientsHighOrderFirst)
Method Detail

constructFromComplexPairRoot

public static Polynomial constructFromComplexPairRoot(ComplexNumber oneComplexRoot)

constructFromRealRoot

public static Polynomial constructFromRealRoot(double realRoot)

constructFromScaleFactorAndRoots

public static Polynomial constructFromScaleFactorAndRoots(double scaleFactor,
                                                          double[] realRoots,
                                                          ComplexNumber[] complexRootPairs)

evaluate

public double evaluate(double input)

evaluateDerivative

public double evaluateDerivative(double input)

evaluateDoubleDerivative

public double evaluateDoubleDerivative(double input)

evaluate

public ComplexNumber evaluate(ComplexNumber input)

getOrder

public int getOrder()

getCoefficients

public double[] getCoefficients()

times

public Polynomial times(double multiplier)

times

public Polynomial times(Polynomial polynomialB)

plus

public Polynomial plus(Polynomial polynomial)

toString

public java.lang.String toString()
Overrides:
toString in class java.lang.Object

epsilonEquals

public boolean epsilonEquals(Polynomial polynomial,
                             double epsilon)

setQuintic

public void setQuintic(double x0,
                       double x1,
                       double y0,
                       double yd0,
                       double ydd0,
                       double y1,
                       double yd1,
                       double ydd1)

setCubic

public void setCubic(double x0,
                     double x1,
                     double y0,
                     double yd0,
                     double y1,
                     double yd1)

equalsZero

public boolean equalsZero()

getDerivativeCoefficients

public double[] getDerivativeCoefficients()

getDoubleDerivativeCoefficients

public double[] getDoubleDerivativeCoefficients()