Implements a simple functional relationship, y = amplitude * sin(x - phase). More...
#include <RiboseMobilizer.h>
Public Member Functions | |
SinusoidFunction () | |
SinusoidFunction (Angle amp, Angle phi) | |
Real | calcValue (const Vector &x) const |
Calculate the value of this function at a particular point. | |
Real | calcDerivative (const Array_< int > &derivComponents, const Vector &x) const |
Calculate a partial derivative of this function at a particular point. | |
int | getArgumentSize () const |
Get the number of components expected in the input vector. | |
int | getMaxDerivativeOrder () const |
Get the maximum derivative order this Function_ object can calculate. |
Implements a simple functional relationship, y = amplitude * sin(x - phase).
SinusoidFunction | ( | ) | [inline] |
SinusoidFunction | ( | Angle | amp, | |
Angle | phi | |||
) | [inline] |
Real calcDerivative | ( | const Array_< int > & | derivComponents, | |
const Vector & | x | |||
) | const [inline, virtual] |
Calculate a partial derivative of this function at a particular point.
Which derivative to take is specified by listing the input components with which to take it. For example, if derivComponents=={0}, that indicates a first derivative with respective to component 0. If derivComponents=={0, 0, 0}, that indicates a third derivative with respective to component 0. If derivComponents=={4, 7}, that indicates a partial second derivative with respect to components 4 and 7.
derivComponents | The input components with respect to which the derivative should be taken. Its size must be less than or equal to the value returned by getMaxDerivativeOrder(). | |
x | The Vector of input arguments. Its size must equal the value returned by getArgumentSize(). |
Implements Function_< T >.
References VectorBase< ELT >::size(), and Array_< T, X >::size().
Real calcValue | ( | const Vector & | x | ) | const [inline, virtual] |
Calculate the value of this function at a particular point.
x | the Vector of input arguments. Its size must equal the value returned by getArgumentSize(). |
Implements Function_< T >.
int getArgumentSize | ( | ) | const [inline, virtual] |
Get the number of components expected in the input vector.
Implements Function_< T >.
int getMaxDerivativeOrder | ( | ) | const [inline, virtual] |
Get the maximum derivative order this Function_ object can calculate.
Implements Function_< T >.