SurgSim::Math::LinearMotion< T > Class Template Reference

LinearMotion is (intentionally) a lot like Interval, but it deals with linear motion where all operands start and end their motion simultaneously. More...

#include <LinearMotionArithmetic.h>

Public Member Functions
	LinearMotion ()
	Constructor.
	LinearMotion (const T &start, const T &end)
	Constructor. More...
	LinearMotion (const LinearMotion< T > &m)
	Copy constructor. More...
	LinearMotion (LinearMotion< T > &&m)
	Move constructor. More...
LinearMotion< T > &	operator= (const LinearMotion< T > &m)
	Assignment operator. More...
LinearMotion< T > &	operator= (LinearMotion< T > &&m)
	Move assignment operator. More...
Interval< T >	toInterval () const
	Convert from LinearMotion to an Interval. More...
Polynomial< T, 1 >	toPolynomial () const
	Returns a linear expression (degree-1 polynomial) whose value for t=0..1 progresses from `start' to `end'. More...
bool	containsZero () const
bool	isApprox (const LinearMotion< T > &i, const T &epsilon) const
bool	operator== (const LinearMotion< T > &m) const
bool	operator!= (const LinearMotion< T > &m) const
Interval< T >	operator* (const LinearMotion< T > &m) const
	Standard arithmetic operators extended to interval groups. More...
Interval< T >	operator/ (const LinearMotion< T > &m) const
	Standard arithmetic operators extended to interval groups. More...
T	getStart () const
T	getEnd () const
T	atTime (const T &t) const
LinearMotion< T >	firstHalf () const
LinearMotion< T >	secondHalf () const
LinearMotion< T >	operator+ (const LinearMotion< T > &m) const
LinearMotion< T > &	operator+= (const LinearMotion< T > &m)
LinearMotion< T >	operator- (const LinearMotion< T > &m) const
LinearMotion< T > &	operator-= (const LinearMotion< T > &m)

Detailed Description

template<typename T>
class SurgSim::Math::LinearMotion< T >

LinearMotion is (intentionally) a lot like Interval, but it deals with linear motion where all operands start and end their motion simultaneously.

LinearMotion results in much tighter bounds compared to Interval, since Interval must consider any value of each operand, and LinearMotion only considers values that are synchronous with one another.

The bounds of a LinearMotion are a start value and an end value; there's no requirement that start <= end (or vice versa).

Many operations on LinearMotion arguments (*, /) return results that are not linear in time, so those operations will return Interval instead.

Template Parameters

T	underlying data type over which the linear motion is defined.

See also

Interval<T>, and IntervalND<T, N>

Constructor & Destructor Documentation

LinearMotion() [1/3]

template<typename T >

SurgSim::Math::LinearMotion< T >::LinearMotion	(	const T &	start,
		const T &	end
	)

Constructor.

Parameters

start	initial value of the constructed linear motion
end	final value of the constructed linear motion

Exceptions

if	max is less than min

LinearMotion() [2/3]

template<typename T >

SurgSim::Math::LinearMotion< T >::LinearMotion

(

const LinearMotion< T > &

m

)

Copy constructor.

Parameters

m	Interval to be copied

LinearMotion() [3/3]

template<typename T >

SurgSim::Math::LinearMotion< T >::LinearMotion

(

LinearMotion< T > &&

m

)

Move constructor.

Parameters

m	LinearMotion to be copied

Member Function Documentation

atTime()

template<typename T >

T SurgSim::Math::LinearMotion< T >::atTime

(

const T &

t

)

const

Parameters

t	the parametric time at which to evaluate the linear motion

Returns

the value of the linear motion at parametric time t

containsZero()

template<typename T >

bool SurgSim::Math::LinearMotion< T >::containsZero

(

)

const

Returns

true if the linear motion crosses through 0.

firstHalf()

template<typename T >

LinearMotion< T > SurgSim::Math::LinearMotion< T >::firstHalf

(

)

const

Returns

the linear motion from the initial time to the midpoint

getEnd()

template<typename T >

T SurgSim::Math::LinearMotion< T >::getEnd

(

)

const

Returns

the end point of the linear motion

getStart()

template<typename T >

T SurgSim::Math::LinearMotion< T >::getStart

(

)

const

Returns

the initial value of the linear motion

isApprox()

template<typename T >

bool SurgSim::Math::LinearMotion< T >::isApprox	(	const LinearMotion< T > &	i,
		const T &	epsilon
	)		const

Parameters

i	the linear motion to be tested
epsilon	the nearness parameter

Returns

true if the current linear motion is within epsilon of the input linear motion

operator!=()

template<typename T >

bool SurgSim::Math::LinearMotion< T >::operator!=

(

const LinearMotion< T > &

m

)

const

Parameters

m	the linear motion to be tested

Returns

true if the current linear motion is not identical to the input linear motion

operator*()

template<typename T >

Interval< T > SurgSim::Math::LinearMotion< T >::operator*

(

const LinearMotion< T > &

m

)

const

Standard arithmetic operators extended to interval groups.

Note

Multiplication and division operators by their nature do not preserve time ordering and so the return value is an IntervalND instead of a LinearMotionND

operator+()

template<typename T >

LinearMotion< T > SurgSim::Math::LinearMotion< T >::operator+

(

const LinearMotion< T > &

m

)

const

Standard arithmetic operators extended to linear motions

operator/()

template<typename T >

Interval< T > SurgSim::Math::LinearMotion< T >::operator/

(

const LinearMotion< T > &

m

)

const

Standard arithmetic operators extended to interval groups.

Note

Multiplication and division operators by their nature do not preserve time ordering and so the return value is an IntervalND instead of a LinearMotionND

Exceptions

if	any component of interval includes 0

operator=() [1/2]

template<typename T >

LinearMotion< T > & SurgSim::Math::LinearMotion< T >::operator=

(

const LinearMotion< T > &

m

)

Assignment operator.

Parameters

m	Interval to be copied

operator=() [2/2]

template<typename T >

LinearMotion< T > & SurgSim::Math::LinearMotion< T >::operator=

(

LinearMotion< T > &&

m

)

Move assignment operator.

Parameters

m	Interval to be moved

operator==()

template<typename T >

bool SurgSim::Math::LinearMotion< T >::operator==

(

const LinearMotion< T > &

m

)

const

Parameters

m	the linear motion to be tested

Returns

true if the current linear motion is identical to the input linear motion

secondHalf()

template<typename T >

LinearMotion< T > SurgSim::Math::LinearMotion< T >::secondHalf

(

)

const

Returns

the linear motion from the midpoint to the endpoint

toInterval()

template<typename T >

Interval< T > SurgSim::Math::LinearMotion< T >::toInterval

(

)

const

Convert from LinearMotion to an Interval.

Returns

the conversion of the LinearMotion to an Interval

toPolynomial()

template<typename T >

Polynomial< T, 1 > SurgSim::Math::LinearMotion< T >::toPolynomial

(

)

const

Returns a linear expression (degree-1 polynomial) whose value for t=0..1 progresses from `start' to `end'.

Returns

the conversion of the LinearMotion to a polynomial

---

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

• SurgSim/Math/LinearMotionArithmetic.h
• SurgSim/Math/LinearMotionArithmetic-inl.h