chrono::ChFunctionPoly23 Class Reference
Description
Cubic smooth step.
y(x) = ampl * (x - x_start)^2 * (x - x_end)^2 * (3 - 2*(x - x_start)) with x in [x_start, x_end]. First derivatives at the start and end points are zero.
#include <ChFunctionPoly23.h>
Inheritance diagram for chrono::ChFunctionPoly23:
Collaboration diagram for chrono::ChFunctionPoly23:
Public Member Functions | |
| ChFunctionPoly23 (double ampl, double x_start, double x_end) | |
| ChFunctionPoly23 (const ChFunctionPoly23 &other) | |
| virtual ChFunctionPoly23 * | Clone () const override |
| "Virtual" copy constructor (covariant return type). | |
| virtual Type | GetType () const override |
| Return the unique function type identifier. | |
| virtual double | GetVal (double x) const override |
| Return the function output for input x. More... | |
| virtual double | GetDer (double x) const override |
| Return the first derivative of the function. More... | |
| virtual double | GetDer2 (double x) const override |
| Return the second derivative of the function. More... | |
| void | SetStartArg (double x_start) |
| Set the start of the step: GetVal(x_start) = 0. | |
| void | SetEndArg (double x_end) |
| Set the end of the step: GetVal(x_end) = amplitude. | |
| void | SetAmplitude (double ampl) |
| Set the value of the function at the end of the step. | |
| double | GetStart () const |
| Get the start of the step: GetVal(x_start) = 0. | |
| double | GetEnd () const |
| Get the end of the step: GetVal(x_end) = amplitude. | |
| double | GetAmplitude () const |
| Get the value of the function at the end of the step. | |
| virtual double | GetPositiveAccelerationCoeff () const override |
| Compute the positive acceleration coefficient. More... | |
| virtual double | GetNegativeAccelerationCoeff () const override |
| Compute the negative acceleration coefficient. More... | |
| virtual double | GetVelocityCoefficient () const override |
| Compute the velocity coefficient. More... | |
| virtual void | ArchiveOut (ChArchiveOut &archive_out) override |
| Method to allow serialization of transient data to archives. | |
| virtual void | ArchiveIn (ChArchiveIn &archive_in) override |
| Method to allow de-serialization of transient data from archives. | |
 Public Member Functions inherited from chrono::ChFunction | |
| ChFunction (const ChFunction &other) | |
| virtual double | GetDer3 (double x) const |
| Return the third derivative of the function. More... | |
| virtual double | GetDerN (double x, int der_order) const |
| Return the Nth derivative of the function (up to 3rd derivative). More... | |
| virtual double | GetWeight (double x) const |
| Return the weight of the function. More... | |
| virtual void | Update (double x) |
| Update the function at the provided value of its argument. | |
| virtual double | GetMax (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the maximum of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetMin (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the minimum of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the mean of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetSquaredMean (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the squared mean of the function (or its der_order derivative) in the range [xmin, xmax]. More... | |
| virtual double | GetIntegral (double xmin, double xmax, double sampling_step, int der_order) const |
| Estimate the integral of the function (or its der_order derivative) over the range [xmin, xmax]. More... | |
| virtual void | OutputToASCIIFile (std::ostream &file, double xmin, double xmax, int samples, char delimiter) |
| Store X-Y pairs to an ASCII File. More... | |
| virtual ChMatrixDynamic | SampleUpToDerN (double xmin, double xmax, double step, int derN=0) |
| Sample function on given interval [xmin, xmax], up to derN derivative (0 being the function ouput itself). More... | |
| double | operator() (double arg) const |
| Alias operator of the GetVal function. | |
Additional Inherited Members | |
| Public Types inherited from chrono::ChFunction | |
| enum | Type { BSPLINE, CONSTANT, CONSTACC, CONSTJERK, CUSTOM, CYCLOIDAL, DERIVATIVE, FILLET3, INTEGRAL, INTERP, LAMBDA, MIRROR, OPERATOR, POLY, POLY23, POLY345, RAMP, REPEAT, SEQUENCE, SINE, SINE_STEP } |
| Enumeration of function types. | |
Member Function Documentation
◆ GetDer()
|
overridevirtual |
Return the first derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetDer2()
|
overridevirtual |
Return the second derivative of the function.
Default implementation computes a numerical differentiation. Inherited classes may override this method with a more efficient implementation (e.g. analytical solution).
Reimplemented from chrono::ChFunction.
◆ GetNegativeAccelerationCoeff()
|
inlineoverridevirtual |
Compute the negative acceleration coefficient.
(derived classes should override this).
Reimplemented from chrono::ChFunction.
◆ GetPositiveAccelerationCoeff()
|
inlineoverridevirtual |
Compute the positive acceleration coefficient.
(derived classes should override this).
Reimplemented from chrono::ChFunction.
◆ GetVal()
|
overridevirtual |
Return the function output for input x.
Must be overridden by specialized classes.
Implements chrono::ChFunction.
◆ GetVelocityCoefficient()
|
inlineoverridevirtual |
Compute the velocity coefficient.
(derived classes must override this).
Reimplemented from chrono::ChFunction.
The documentation for this class was generated from the following files:
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionPoly23.h
- /builds/uwsbel/chrono/src/chrono/functions/ChFunctionPoly23.cpp
