Drake
CubicPolynomial Class Reference

A cubic polynomial, f(p) = a + b*p + c*p^2 + d*p^3. More...

#include <drake/automotive/maliput/multilane/cubic_polynomial.h>

## Public Member Functions

CubicPolynomial ()
Default constructor, all zero coefficients. More...

CubicPolynomial (double a, double b, double c, double d)
Constructs a cubic polynomial given all four coefficients. More...

double a () const

double b () const

double c () const

double d () const

int order () const
Returns the order of the polynomial, based on its nonzero coefficients. More...

bool is_zero () const
Checks whether the polynomial is exactly zero. More...

double f_p (double p) const
Evaluates the polynomial f at p. More...

double f_dot_p (double p) const
Evaluates the derivative df/dp at p. More...

double f_ddot_p (double p) const
Evaluates the double-derivative d^2f/dp^2 at p. More...

double s_p (double p) const
Returns the path-length s along the curve (p, f(p)) from p = 0 to p. More...

double p_s (double s) const
Returns the inverse of the path-length parameterization s_p(p). More...

double fake_gprime (double p) const

Implements CopyConstructible, CopyAssignable, MoveConstructible, MoveAssignable
CubicPolynomial (const CubicPolynomial &)=default

CubicPolynomialoperator= (const CubicPolynomial &)=default

CubicPolynomial (CubicPolynomial &&)=default

CubicPolynomialoperator= (CubicPolynomial &&)=default

## Detailed Description

A cubic polynomial, f(p) = a + b*p + c*p^2 + d*p^3.

## ◆ CubicPolynomial() [1/4]

 CubicPolynomial ( const CubicPolynomial & )
default

## ◆ CubicPolynomial() [2/4]

 CubicPolynomial ( CubicPolynomial && )
default

## ◆ CubicPolynomial() [3/4]

 CubicPolynomial ( )
inline

Default constructor, all zero coefficients.

## ◆ CubicPolynomial() [4/4]

 CubicPolynomial ( double a, double b, double c, double d )
inline

Constructs a cubic polynomial given all four coefficients.

## ◆ a()

 double a ( ) const
inline

## ◆ b()

 double b ( ) const
inline

## ◆ c()

 double c ( ) const
inline

## ◆ d()

 double d ( ) const
inline

## ◆ f_ddot_p()

 double f_ddot_p ( double p ) const
inline

Evaluates the double-derivative d^2f/dp^2 at p.

## ◆ f_dot_p()

 double f_dot_p ( double p ) const
inline

Evaluates the derivative df/dp at p.

## ◆ f_p()

 double f_p ( double p ) const
inline

Evaluates the polynomial f at p.

## ◆ fake_gprime()

 double fake_gprime ( double p ) const
inline

## ◆ is_zero()

 bool is_zero ( ) const
inline

Checks whether the polynomial is exactly zero.

## ◆ operator=() [1/2]

 CubicPolynomial& operator= ( CubicPolynomial && )
default

## ◆ operator=() [2/2]

 CubicPolynomial& operator= ( const CubicPolynomial & )
default

## ◆ order()

 int order ( ) const
inline

Returns the order of the polynomial, based on its nonzero coefficients.

## ◆ p_s()

 double p_s ( double s ) const
inline

Returns the inverse of the path-length parameterization s_p(p).

## ◆ s_p()

 double s_p ( double p ) const
inline

Returns the path-length s along the curve (p, f(p)) from p = 0 to p.

The documentation for this class was generated from the following file: