Drake
TrigPoly Class Reference

support class for parsing functions into their polynomial and trigonemetric components. More...

Collaboration diagram for TrigPoly:

## Public Member Functions

function TrigPoly (q, s, c, n)

function getmsspoly (obj)

function getsym (obj)

function getVar (obj)

function getSin (obj)

function getCos (obj)

function isTrigOrPoly (a)
returns true if the TrigPoly object a has contributions from q(i) OR s(i),c(i), but not both. More...

function getTrigPolyBasis (a)

function eval (a, q0)
evaluate the trig poly at q=q0 More...

function getUnitCircleConstraints (a)

function clean (a, tol)

function sin (a)

function cos (a)

function diff (a, z)

function end (a, k, n)
I don't think I should have to overload this, but it's not working like (size(x,k)) should be. More...

function ctranspose (a)

function diag (a)

function display (a)

function horzcat (varargin)

function isempty (a)

function isequal (a, b)

function isscalar (a)

function length (a)

function minus (a, b)

function mpower (a, n)

function power (a, n)

function mrdivide (a, b)

function mldivide (a, b)

function mtimes (a, b)

function plus (a, b)

function repmat (a, m, n)

function reshape (a, m, n)

function size (a, varargin)

function sparse (a)

function subsasgn (a, s, b)

function subsref (a, s)

function sum (a, dim)

function times (a, b)

function trace (a)

function transpose (a)

function uminus (a)

function uplus (a)

function vertcat (varargin)

Property q

Property s

Property c

Property p

## Detailed Description

support class for parsing functions into their polynomial and trigonemetric components.

mostly passes all functionality through to msspoly, but adds handling of sin() and cos().

example use: t=msspoly('t',1); x=TrigPoly('x','s','c',2); u=msspoly('u',1); p = PendulumPlant(); p.dynamics(t,x,u);

## Constructor & Destructor Documentation

 function TrigPoly ( q , s , c , n )
Parameters
 q simple msspoly (vector) or char to represent the basic polynomial variable s simple msspoly or char to represent sin(q) c simple msspoly or char to represent cos(q) n the length of q (optional if q is an msspoly, otherwise required)
Return values
 obj

## Member Function Documentation

 function clean ( a , tol )
Return values
 a
 function cos ( a )
Return values
 a
 function ctranspose ( a )
Return values
 a
 function diag ( a )
Return values
 a
 function diff ( a , z )
Return values
 a
 function display ( a )
 function end ( a , k , n )

I don't think I should have to overload this, but it's not working like (size(x,k)) should be.

see 'doc end'

Return values
 i
 function eval ( a , q0 )

evaluate the trig poly at q=q0

Return values
 val
 function getCos ( obj )
Return values
 c
 function getmsspoly ( obj )
Return values
 p
 function getSin ( obj )
Return values
 s
 function getsym ( obj )
Return values
 p
 function getTrigPolyBasis ( a )
Return values
 v
 function getUnitCircleConstraints ( a )
Return values
 con
 function getVar ( obj )
Return values
 q
 function horzcat ( varargin )
Return values
 a
 function isempty ( a )
Return values
 b
 function isequal ( a , b )
Return values
 b
 function isscalar ( a )
Return values
 b
 function isTrigOrPoly ( a )

returns true if the TrigPoly object a has contributions from q(i) OR s(i),c(i), but not both.

Return values
 b
 function length ( a )
Return values
 n
 function minus ( a , b )
Return values
 a
 function mldivide ( a , b )
Return values
 a
 function mpower ( a , n )
Return values
 a
 function mrdivide ( a , b )
Return values
 a
 function mtimes ( a , b )
Return values
 a
 function plus ( a , b )
Return values
 a
 function power ( a , n )
Return values
 a
 function repmat ( a , m , n )
Return values
 a
 function reshape ( a , m , n )
Return values
 a
 function sin ( a )
Return values
 a
 function size ( a , varargin )
Return values
 varargout
 function sparse ( a )
Return values
 a
 function subsasgn ( a , s , b )
Return values
 a
 function subsref ( a , s )
Return values
 a
 function sum ( a , dim )
Return values
 a
 function times ( a , b )
Return values
 a
 function trace ( a )
Return values
 a
 function transpose ( a )
Return values
 a
 function uminus ( a )
Return values
 a
 function uplus ( a )
Return values
 a
 function vertcat ( varargin )
Return values
 a

## Member Data Documentation

 Property c
 Property p
 Property q
 Property s

The documentation for this class was generated from the following file:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/util/TrigPoly.m