#include <nmrStandardPolynomial.h>

Inheritance diagram for nmrStandardPolynomial:

Public Types
typedef nmrDynAllocPolynomialContainer	BaseType

Public Types inherited from nmrDynAllocPolynomialContainer
typedef nmrPolynomialContainer < void * >	BaseType

Public Types inherited from nmrPolynomialContainer< void * >
typedef nmrPolynomialBase	BaseType

typedef void *	TermInfoType

typedef std::pair < nmrPolynomialTermPowerIndex, TermInfoType >	ContainerElementType

typedef std::list < ContainerElementType >	TermContainerType

typedef TermContainerType::value_type	TermType

typedef TermContainerType::iterator	TermIteratorType

typedef TermContainerType::const_iterator	TermConstIteratorType

Public Types inherited from nmrPolynomialBase
enum	InsertStatus { INSERT_FAIL = -1, INSERT_NEW = 0, INSERT_REPLACE = 1 }

typedef double	ValueType

typedef double	VariableType

typedef double	CoefficientType

typedef nmrPolynomialTermPowerIndex::VariableIndexType	VariableIndexType

typedef nmrPolynomialTermPowerIndex::PowerType	PowerType

typedef nmrPolynomialTermPowerIndex::MultinomialCoefficientType	TermCounterType

Public Member Functions
	nmrStandardPolynomial (VariableIndexType numVariables, PowerType minDegree, PowerType maxDegree)

virtual	~nmrStandardPolynomial ()

virtual InsertStatus	SetCoefficient (const nmrPolynomialTermPowerIndex &where, CoefficientType coefficient)

virtual InsertStatus	SetCoefficient (TermIteratorType &where, CoefficientType coefficient)

virtual CoefficientType	GetCoefficient (const nmrPolynomialTermPowerIndex &where) const

virtual CoefficientType	GetCoefficient (const TermConstIteratorType &where) const

virtual CoefficientType	GetCoefficient (const TermIteratorType &where) const

virtual void	RemoveTerm (TermIteratorType &where)

virtual void	Clear ()

virtual ValueType	EvaluateBasis (const nmrPolynomialTermPowerIndex &where, const nmrMultiVariablePowerBasis &variables) const

virtual ValueType	EvaluateBasis (const TermConstIteratorType &where, const nmrMultiVariablePowerBasis &variables) const

virtual ValueType	EvaluateBasis (const TermIteratorType &where, const nmrMultiVariablePowerBasis &variables) const

virtual void	SerializeTermInfo (std::ostream &output, const TermConstIteratorType &termIterator) const

virtual void	DeserializeTermInfo (std::istream &input, TermIteratorType &termIterator)

virtual void	AddConstant (CoefficientType shiftAmount)

virtual void	AddConstantToCoefficients (CoefficientType coefficients[], CoefficientType shiftAmount) const

Public Member Functions inherited from nmrDynAllocPolynomialContainer
	nmrDynAllocPolynomialContainer (unsigned int numVariables, unsigned int minDegree, unsigned int maxDegree)

Public Member Functions inherited from nmrPolynomialContainer< void * >
	nmrPolynomialContainer (VariableIndexType numVariables, PowerType minDegree, PowerType maxDegree)

virtual	~nmrPolynomialContainer ()

virtual TermCounterType	GetNumberOfTerms () const

virtual bool	IsEmpty () const

virtual void	SetMinDegree (PowerType newMin) throw (std::runtime_error)

virtual void	SetMaxDegree (PowerType newMax) throw (std::runtime_error)

virtual void	FillAllTerms ()

virtual bool	IncludesIndex (const nmrPolynomialTermPowerIndex &target) const

virtual TermCounterType	GetIndexPosition (const nmrPolynomialTermPowerIndex &term) const

TermIteratorType	GetTermIteratorForPosition (TermCounterType position)

TermIteratorType	FirstTermIterator ()

TermConstIteratorType	FirstTermIterator () const

TermIteratorType	EndTermIterator ()

TermConstIteratorType	EndTermIterator () const

TermIteratorType	FindTerm (const nmrPolynomialTermPowerIndex &target)

TermConstIteratorType	FindTerm (const nmrPolynomialTermPowerIndex &target) const

virtual void	RemoveTerm (const nmrPolynomialTermPowerIndex &where)

virtual void	CollectCoefficients (CoefficientType target[]) const

virtual void	RestoreCoefficients (const CoefficientType source[])

const nmrPolynomialTermPowerIndex &	GetTermPowerIndex (const TermConstIteratorType &where) const

const nmrPolynomialTermPowerIndex &	GetTermPowerIndex (const TermIteratorType &where) const

ValueType	EvaluateTerm (const TermConstIteratorType &where) const

ValueType	EvaluateTerm (const TermIteratorType &where) const

ValueType	EvaluateTerm (const TermConstIteratorType &where, const nmrMultiVariablePowerBasis &variables) const

ValueType	EvaluateTerm (const TermIteratorType &where, const nmrMultiVariablePowerBasis &variables) const

virtual ValueType	Evaluate (const nmrMultiVariablePowerBasis &variables) const

virtual void	EvaluateBasisVector (const nmrMultiVariablePowerBasis &variables, ValueType termBaseValues[]) const

virtual ValueType	EvaluateForCoefficients (const nmrMultiVariablePowerBasis &variables, const CoefficientType coefficients[]) const

virtual void	Scale (CoefficientType scaleFactor)

virtual void	SerializeRaw (std::ostream &output) const

virtual void	DeserializeRaw (std::istream &input)

Public Member Functions inherited from nmrPolynomialBase
	nmrPolynomialBase (VariableIndexType numVariables, PowerType minDegree, PowerType maxDegree)

virtual	~nmrPolynomialBase ()

VariableIndexType	GetNumVariables () const

PowerType	GetMinDegree () const

PowerType	GetMaxDegree () const

TermCounterType	GetMaxNumberOfTerms () const

bool	CanIncludeIndex (const nmrPolynomialTermPowerIndex &term) const

virtual CoefficientType	GetCoefficient (const nmrPolynomialTermPowerIndex &CMN_UNUSED(where)) const

ValueType	EvaluateTerm (const nmrPolynomialTermPowerIndex &where, const nmrMultiVariablePowerBasis &variables) const

ValueType	EvaluateTerm (const nmrPolynomialTermPowerIndex &where, const nmrMultiVariablePowerBasis &variables, CoefficientType coefficient) const

void CISST_DEPRECATED	ScaleCoefficients (CoefficientType coefficients[], CoefficientType scaleFactor) const

Protected Member Functions
CoefficientType &	DereferenceIterator (const TermIteratorType &it)

CoefficientType	DereferenceIterator (const TermIteratorType &it) const

CoefficientType	DereferenceConstIterator (const TermConstIteratorType &it) const

Protected Member Functions inherited from nmrPolynomialContainer< void * >
const TermInfoType &	GetTermInfo (const TermConstIteratorType &termIterator) const

TermInfoType &	GetTermInfo (const TermConstIteratorType &termIterator)

Additional Inherited Members
Protected Attributes inherited from nmrPolynomialContainer< void * >
TermContainerType	Terms

Protected Attributes inherited from nmrPolynomialBase
VariableIndexType	NumVariables

PowerType	MinDegree

PowerType	MaxDegree

Detailed Description

class nmrStandardPolynomial represents a polynomial in standard (power) basis. Each term consists of a power index and a coefficient. The structure of nmrStandardPolynomial is based on nmrPolynomialContainer, and it implements the required methods in a straightforward way.

Note: some methods include assertions. To avoid including the <assert.h> header file by all the files that use polynomials, I put these methods, and some which were more than one-liners, in the .cpp file. But in every practical way, nmrStandardPolynomial could be implemented completely as inline.

Note: We use dynamic allocation for the term information (Coefficient), which is separate from the STL provided dynamic allocation for the container elements. We store the pointer to the dynamically allocated term info in the container. Therefore:

We had to override the base-class's RemoveTerm() and Clear() methods.
Do not even try to make a copy of a nmrBernsteinPolynomial using copy-ctor or operator= (yeah, like you would). Just for safety, we declare these operations protected, and do not provide implementation.
A better solution may be to define a common base type for TermInfo, and have it declare a virtual dtor. Go for it, if you have time.

Member Typedef Documentation

typedef nmrDynAllocPolynomialContainer nmrStandardPolynomial::BaseType

Constructor & Destructor Documentation

nmrStandardPolynomial::nmrStandardPolynomial	(	VariableIndexType	numVariables,
		PowerType	minDegree,
		PowerType	maxDegree
	)

inline

Constructor determines the number of variables and the degree of the polynomial.

virtual nmrStandardPolynomial::~nmrStandardPolynomial ( )

inlinevirtual

Member Function Documentation

virtual void nmrStandardPolynomial::AddConstant ( CoefficientType shiftAmount )

virtual

An actual implementation overriding nmrPolynomialBase. In this implementation, the coefficient of the term with degree zero is increased by the given shift amount.

Implements nmrPolynomialContainer< void * >.

virtual void nmrStandardPolynomial::AddConstantToCoefficients	(	CoefficientType	coefficients[],
		CoefficientType	shiftAmount
	)		const

virtual

Overloaded from nmrPolynomialBase. This implementation verifies that this polynomial contains a term of degree zero, and adds the shift amount to the corresponding external coefficient.

Implements nmrPolynomialContainer< void * >.

virtual void nmrStandardPolynomial::Clear ( )

virtual

Remove all the terms to make an empty (zero) polynomial We cannot use nmrPolynomialContainer::Clear(), since it does not reclaim the space allocated for the term. This implementation does.

Reimplemented from nmrPolynomialContainer< void * >.

CoefficientType nmrStandardPolynomial::DereferenceConstIterator ( const TermConstIteratorType & it ) const

inlineprotected

CoefficientType& nmrStandardPolynomial::DereferenceIterator ( const TermIteratorType & it )

inlineprotected

CoefficientType nmrStandardPolynomial::DereferenceIterator ( const TermIteratorType & it ) const

inlineprotected

virtual void nmrStandardPolynomial::DeserializeTermInfo	(	std::istream &	input,
		TermIteratorType &	termIterator
	)

virtual

This function is overridden to allocate memory for and read the term coefficient. It is called from nmrPolynomialContainer::DeserializeRaw().

Implements nmrDynAllocPolynomialContainer.

virtual ValueType nmrStandardPolynomial::EvaluateBasis	(	const nmrPolynomialTermPowerIndex &	where,
		const nmrMultiVariablePowerBasis &	variables
	)		const

inlinevirtual

Evaluate the basis function for a term. The term is regarded as a list of powers, without any user defined coefficient. However, for different families of polynomial the set of basis functions are different. For example, Bezier polynomials have the multinomial coefficient in addition to each user defined coefficient. Implemented for each concrete polynomial class.

Implements nmrPolynomialBase.

virtual ValueType nmrStandardPolynomial::EvaluateBasis	(	const TermConstIteratorType &	where,
		const nmrMultiVariablePowerBasis &	variables
	)		const

inlinevirtual

Implements nmrPolynomialContainer< void * >.

virtual ValueType nmrStandardPolynomial::EvaluateBasis	(	const TermIteratorType &	where,
		const nmrMultiVariablePowerBasis &	variables
	)		const

inlinevirtual

Implements nmrPolynomialContainer< void * >.

virtual CoefficientType nmrStandardPolynomial::GetCoefficient ( const nmrPolynomialTermPowerIndex & where ) const

inlinevirtual

Retrieve the value of the user defined coefficient for a given term.

virtual CoefficientType nmrStandardPolynomial::GetCoefficient ( const TermConstIteratorType & where ) const

inlinevirtual

Implements nmrPolynomialContainer< void * >.

virtual CoefficientType nmrStandardPolynomial::GetCoefficient ( const TermIteratorType & where ) const

inlinevirtual

Implements nmrPolynomialContainer< void * >.

virtual void nmrStandardPolynomial::RemoveTerm ( TermIteratorType & where )

virtual

Remove a term from the polynomial. The term is given by iterator. The function also reclaims the space allocated for the term.

Reimplemented from nmrPolynomialContainer< void * >.

virtual void nmrStandardPolynomial::SerializeTermInfo	(	std::ostream &	output,
		const TermConstIteratorType &	termIterator
	)		const

virtual

This function is overridden to store the term coefficient to the stream. It is called from nmrPolynomialContainer::SerializeRaw().

Implements nmrDynAllocPolynomialContainer.

virtual InsertStatus nmrStandardPolynomial::SetCoefficient	(	const nmrPolynomialTermPowerIndex &	where,
		CoefficientType	coefficient
	)

virtual

Set a coefficient for the given term.

Implements nmrPolynomialContainer< void * >.

virtual InsertStatus nmrStandardPolynomial::SetCoefficient	(	TermIteratorType &	where,
		CoefficientType	coefficient
	)

inlinevirtual

Implements nmrPolynomialContainer< void * >.

The documentation for this class was generated from the following file:

/home/adeguet1/catkin_ws/src/cisst-saw/cisst/cisstNumerical/nmrStandardPolynomial.h

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation