trigonometric_polynomial.h File Reference

#include <unordered_map>
#include <utility>
#include <vector>
#include "drake/common/drake_copyable.h"
#include "drake/common/symbolic/expression.h"
#include "drake/common/symbolic/rational_function.h"

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Classes
struct	SinCos
	Represents a pair of Variables corresponding to sin(q) and cos(q). More...

Namespaces
	drake
	drake::symbolic

Typedefs
using	SinCosSubstitution = std::unordered_map< Variable, SinCos >

Enumerations
enum	SinCosSubstitutionType { kAngle, kHalfAnglePreferSin, kHalfAnglePreferCos }

Functions
Expression	Substitute (const Expression &e, const SinCosSubstitution &subs)
	Given a substitution map q => {s, c}, substitutes instances of sin(q) and cos(q) in e with s and c, with partial support for trigonometric expansions. More...
template<typename Derived >
MatrixLikewise< Expression, Derived >	Substitute (const Eigen::MatrixBase< Derived > &m, const SinCosSubstitution &subs)
	Matrix version of sin/cos substitution. More...
symbolic::RationalFunction	SubstituteStereographicProjection (const symbolic::Polynomial &e, const std::vector< SinCos > &sin_cos, const VectorX< symbolic::Variable > &t)
	Substitutes the variables representing sine and cosine functions with their stereographic projection. More...