Polinomial5

Class that implements a 5th order polinomial section. More...

#include <Polinomial5.h>

Public Functions

	Name
	Polinomial5(std::array< double, 5 > a, std::array< double, 5 > b, double c) Constructor for the Polinomial5 class, that receives the desired plane for the polinomial.
virtual Eigen::Vector3d	eq_pd(double t) override The Path section equation.
virtual Eigen::Vector3d	eq_d_pd(double t) override First derivative of the path section equation with respect to the path parameter t.
virtual Eigen::Vector3d	eq_dd_pd(double t) override Second derivative of the path section equation with respect to the path parameter t.
virtual double	getClosestPointGamma(Eigen::Vector3d & coordinate) override Method for getting the gamma of the closes point to the path.

Public Functions inherited from PathSection

	Name
virtual double	tangent(double t) Default method for computing the tangent to the path section.
virtual double	curvature(double t) Default method for computing the curvature. The default implementation implements the general formula to compute the curvature based on the derivative equations of the path.
virtual double	derivative_norm(double t) Default method for computing the norm of the derivative.
bool	can_be_composed() Method to return whether a pathSection can be composed with other path sections or not.
double	limitGamma(double t) Method to limit the gamma between the minimum and maximum value By default the maximum gamma is a very high number.
double	getMaxGammaValue() Method used to get the maximum gamma allowed by the path section By the default is the maximum valid number possible in c++.
double	getMinGammaValue() Method used to get the minimum gamma allowed by the path section By default is the minimum valid number possible in c++.
virtual	~PathSection() Virtual destructor for the abstract class.

Protected Functions inherited from PathSection

	Name
	PathSection(bool can_be_composed) Constructor for the abstract class i NOTE: this class is virtual, therefore an object of type PathSection cannot be instantiated in memory. Only derivatives of the class PathSection.
bool	setMaxGammaValue(double gamma_max) Method to update the max of the gamma parameter Validates if the value received is greater than gamma_min.
bool	setMinGammaValue(double gamma_min) Method to update the min value of the gamma parameter Validades if the value is received is smaller than gamma_max.
double	GradientDescent(double gamma_o, Eigen::Vector3d & x_pos, double tolerance) Method that implements the gradient descent to minimize the error of
double	getInitialGammaEstimate(Eigen::Vector3d & x_pos, int num_partitions, double min_val, double max_val) Method to get an initial estimate for the gamma. It divides the section into n sections and search for local minimums in the function that computes the distance of the vehicle inside those sections.
double	bisection(Eigen::Vector3d & x_pos, double a, double b) Method to implement bisection method

class Polinomial5;

Class that implements a 5th order polinomial section.

Author:

Version: 1.0a

Date: 2021

Copyright: MIT

This class is used as a part of the sections library

Polinomial5(
    std::array< double, 5 > a,
    std::array< double, 5 > b,
    double c
)

Constructor for the Polinomial5 class, that receives the desired plane for the polinomial.

Parameters:

virtual Eigen::Vector3d eq_pd(
    double t
) override

The Path section equation.

Parameters:

Return: An Eigen::Vector3d with the equation of the path with respect to the path parameter

Reimplements: PathSection::eq_pd

virtual Eigen::Vector3d eq_d_pd(
    double t
) override

First derivative of the path section equation with respect to the path parameter t.

Parameters:

Return: An Eigen::Vector3d with the equation of the partial derivative with respect to the path parameter

Reimplements: PathSection::eq_d_pd

virtual Eigen::Vector3d eq_dd_pd(
    double t
) override

Second derivative of the path section equation with respect to the path parameter t.

Parameters:

Return: An Eigen::Vector3d with the equation of the second order partial derivative with respect to the path parameter

Reimplements: PathSection::eq_dd_pd

virtual double getClosestPointGamma(
    Eigen::Vector3d & coordinate
) override

Method for getting the gamma of the closes point to the path.

Parameters:

Return: A double with the gamma corresponding to the closest point in the path

Reimplements: PathSection::getClosestPointGamma

Updated on 2022-09-15 at 17:51:29 +0000

Last update: September 15, 2022