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>


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. | |
virtual double | GetDer (double x) const override |
Return the first derivative of the function. | |
virtual double | GetDer2 (double x) const override |
Return the second derivative of the function. | |
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 |
Computes the positive acceleration coefficient (inherited classes should override this). | |
virtual double | GetNegativeAccelerationCoeff () const override |
Compute the negative acceleration coefficient (inherited classes should override this). | |
virtual double | GetVelocityCoefficient () const override |
Compute the velocity coefficient (inherited classes must override this). | |
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. | |
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ChFunction (const ChFunction &other) | |
virtual double | GetDer3 (double x) const |
Return the third derivative of the function. | |
virtual double | GetDerN (double x, int der_order) const |
Return the Nth derivative of the function (up to 3rd derivative). | |
virtual double | GetWeight (double x) const |
Return the weight of the function (useful for applications where you need to mix different weighted ChFunctions) | |
virtual void | Update (double x) |
Update could be implemented by children classes, ex. to launch callbacks. | |
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], using sampling method. | |
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], using sampling method. | |
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], using sampling method. | |
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], using sampling method. | |
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], using sampling method. | |
virtual void | OutputToASCIIFile (std::ostream &file, double xmin, double xmax, int samples, char delimiter) |
Store X-Y pairs to an ASCII File. | |
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). | |
double | operator() (double arg) const |
Alias operator of the GetVal function. | |
Additional Inherited Members | |
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enum class | 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
◆ ArchiveIn()
|
overridevirtual |
Method to allow de-serialization of transient data from archives.
Reimplemented from chrono::ChFunction.
◆ ArchiveOut()
|
overridevirtual |
Method to allow serialization of transient data to archives.
Reimplemented from chrono::ChFunction.
◆ Clone()
|
inlineoverridevirtual |
"Virtual" copy constructor (covariant return type).
Implements chrono::ChFunction.
◆ 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 (inherited classes should override this).
Reimplemented from chrono::ChFunction.
◆ GetPositiveAccelerationCoeff()
|
inlineoverridevirtual |
Computes the positive acceleration coefficient (inherited classes should override this).
Reimplemented from chrono::ChFunction.
◆ GetType()
|
inlineoverridevirtual |
Return the unique function type identifier.
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 (inherited classes must override this).
Reimplemented from chrono::ChFunction.
The documentation for this class was generated from the following files:
- C:/M/B/src/chrono-9.0.1/src/chrono/functions/ChFunctionPoly23.h
- C:/M/B/src/chrono-9.0.1/src/chrono/functions/ChFunctionPoly23.cpp