1#ifndef SimTK_SimTKCOMMON_FUNCTION_H_
2#define SimTK_SimTKCOMMON_FUNCTION_H_
87 const Vector& x)
const = 0;
136 : argumentSize(argumentSize), value(value) {
139 assert(x.
size() == argumentSize);
143 const Vector& x)
const override {
144 return static_cast<T
>(0);
150 return std::numeric_limits<int>::max();
185 assert(x.
size() == coefficients.size()-1);
186 T value =
static_cast<T
>(0);
187 for (
int i = 0; i < x.
size(); ++i)
188 value += x[i]*coefficients[i];
189 value += coefficients[x.
size()];
193 const Vector& x)
const override {
194 assert(x.
size() == coefficients.size()-1);
195 assert(derivComponents.
size() > 0);
196 if (derivComponents.
size() == 1)
197 return coefficients(derivComponents[0]);
198 return static_cast<T
>(0);
201 return coefficients.size()-1;
204 return std::numeric_limits<int>::max();
234 assert(x.
size() == 1);
236 T value =
static_cast<T
>(0);
237 for (
int i = 0; i < coefficients.size(); ++i)
238 value = value*arg + coefficients[i];
242 const Vector& x)
const override {
243 assert(x.
size() == 1);
244 assert(derivComponents.
size() > 0);
246 T value =
static_cast<T
>(0);
247 const int derivOrder = (int)derivComponents.
size();
248 const int polyOrder = coefficients.size()-1;
249 for (
int i = 0; i <= polyOrder-derivOrder; ++i) {
250 T coeff = coefficients[i];
251 for (
int j = 0; j < derivOrder; ++j)
252 coeff *= polyOrder-i-j;
253 value = value*arg + coeff;
261 return std::numeric_limits<int>::max();
293 : a(amplitude), w(frequency), p(phase) {}
307 return a*std::sin(w*t + p);
311 const Vector& x)
const override {
313 const int order = derivComponents.
size();
319 case 0:
return a* std::sin(w*t + p);
320 case 1:
return a*w* std::cos(w*t + p);
321 case 2:
return -a*w*w* std::sin(w*t + p);
322 case 3:
return -a*w*w*w*std::cos(w*t + p);
325 const Real sc = (order & 0x1) ? std::cos(w*t+p) : std::sin(w*t+p);
326 const Real wn = std::pow(w, order);
333 return std::numeric_limits<int>::max();
375 { setParameters(y0,y1,x0,x1); }
381 "A zero-length switching interval is illegal; both ends were %g.", x0);
382 m_y0 = y0; m_y1 = y1; m_yr = y1-y0; m_zero =
Real(0)*y0;
383 m_x0 = x0; m_x1 = x1; m_ooxr = 1/(x1-x0); m_sign =
sign(m_ooxr);
388 "Function_<T>::Step::calcValue()",
389 "Expected just one input argument but got %d.", xin.
size());
391 const Real x = xin[0];
392 if ((x-m_x0)*m_sign <= 0)
return m_y0;
393 if ((x-m_x1)*m_sign >= 0)
return m_y1;
396 return m_y0 + f*m_yr;
400 const Vector& xin)
const override {
402 "Function_<T>::Step::calcDerivative()",
403 "Expected just one input argument but got %d.", xin.
size());
405 const int derivOrder = (int)derivComponents.
size();
407 "Function_<T>::Step::calcDerivative()",
408 "Only 1st, 2nd, and 3rd derivatives of the step are available,"
409 " but derivative %d was requested.", derivOrder);
410 const Real x = xin[0];
411 if ((x-m_x0)*m_sign <= 0)
return m_zero;
412 if ((x-m_x1)*m_sign >= 0)
return m_zero;
414 case 1:
return dstepAny (1,m_x0,m_ooxr, x) * m_yr;
415 case 2:
return d2stepAny(1,m_x0,m_ooxr, x) * m_yr;
416 case 3:
return d3stepAny(1,m_x0,m_ooxr, x) * m_yr;
417 default: assert(!
"impossible derivOrder");
434 Real m_x0, m_x1, m_ooxr;
#define SimTK_ERRCHK1_ALWAYS(cond, whereChecked, fmt, a1)
Definition ExceptionMacros.h:285
#define SimTK_THROW2(exc, a1, a2)
Definition Exception.h:318
This is the header which should be included in user programs that would like to make use of all the S...
Includes internal headers providing declarations for the basic SimTK Core classes.
This Array_ helper class is the base class for ArrayView_ which is the base class for Array_; here we...
Definition Array.h:324
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition Array.h:1520
size_type size() const
Return the current number of elements stored in this array.
Definition Array.h:2075
Definition Exception.h:248
This is a Function_ subclass which simply returns a fixed value, independent of its arguments.
Definition Function.h:126
T calcDerivative(const Array_< int > &derivComponents, const Vector &x) const override
Calculate a partial derivative of this function at a particular point.
Definition Function.h:142
T calcValue(const Vector &x) const override
Calculate the value of this function at a particular point.
Definition Function.h:138
int getMaxDerivativeOrder() const override
Get the maximum derivative order this Function_ object can calculate.
Definition Function.h:149
Constant * clone() const override
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:153
int getArgumentSize() const override
Get the number of components expected in the input vector.
Definition Function.h:146
Constant(T value, int argumentSize=1)
Create a Function_::Constant object.
Definition Function.h:135
T calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:157
This is a Function_ subclass whose output value is a linear function of its arguments: f(x,...
Definition Function.h:170
T calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:211
int getMaxDerivativeOrder() const override
Get the maximum derivative order this Function_ object can calculate.
Definition Function.h:203
T calcDerivative(const Array_< int > &derivComponents, const Vector &x) const override
Calculate a partial derivative of this function at a particular point.
Definition Function.h:192
T calcValue(const Vector &x) const override
Calculate the value of this function at a particular point.
Definition Function.h:184
Linear * clone() const override
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:207
Linear(const Vector_< T > &coefficients)
Create a Function_::Linear object.
Definition Function.h:182
int getArgumentSize() const override
Get the number of components expected in the input vector.
Definition Function.h:200
This is a Function_ subclass whose output value is a polynomial of its argument: f(x) = ax^n+bx^(n-1)...
Definition Function.h:223
Polynomial * clone() const override
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:264
T calcValue(const Vector &x) const override
Calculate the value of this function at a particular point.
Definition Function.h:233
Polynomial(const Vector_< T > &coefficients)
Create a Function_::Polynomial object.
Definition Function.h:231
int getMaxDerivativeOrder() const override
Get the maximum derivative order this Function_ object can calculate.
Definition Function.h:260
T calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:268
T calcDerivative(const Array_< int > &derivComponents, const Vector &x) const override
Calculate a partial derivative of this function at a particular point.
Definition Function.h:241
int getArgumentSize() const override
Get the number of components expected in the input vector.
Definition Function.h:257
This is a Function_ subclass whose output value is a sinusoid of its argument: f(x) = a*sin(w*x + p) ...
Definition Function.h:283
virtual Real calcValue(const Vector &x) const override
Calculate the value of this function at a particular point.
Definition Function.h:305
virtual Real calcDerivative(const Array_< int > &derivComponents, const Vector &x) const override
Calculate a partial derivative of this function at a particular point.
Definition Function.h:310
Real getFrequency() const
Definition Function.h:300
void setAmplitude(Real amplitude)
Definition Function.h:295
void setPhase(Real phase)
Definition Function.h:297
Sinusoid * clone() const override
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:336
int getMaxDerivativeOrder() const override
Get the maximum derivative order this Function_ object can calculate.
Definition Function.h:332
int getArgumentSize() const override
Get the number of components expected in the input vector.
Definition Function.h:331
Real calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:340
Sinusoid(Real amplitude, Real frequency, Real phase=0)
Create a Function::Sinusoid object, returning a*sin(w*x+p).
Definition Function.h:292
void setFrequency(Real frequency)
Definition Function.h:296
Real getAmplitude() const
Definition Function.h:299
Real getPhase() const
Definition Function.h:301
This is a Function_ subclass whose output value y=f(x) is smoothly stepped from y=y0 to y1 as its inp...
Definition Function.h:355
void setParameters(const T &y0, const T &y1, Real x0, Real x1)
Change the four parameters that define the step function; see constructor for documentation.
Definition Function.h:379
T calcValue(const Vector &xin) const override
Calculate the value of this function at a particular point.
Definition Function.h:386
Step * clone() const override
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:425
Step(const T &y0, const T &y1, Real x0, Real x1)
Create a Function_::Step object that smoothly interpolates its output through a given range as its in...
Definition Function.h:374
int getMaxDerivativeOrder() const override
Get the maximum derivative order this Function_ object can calculate.
Definition Function.h:423
T calcDerivative(const Array_< int > &derivComponents, const Vector &xin) const override
Calculate a partial derivative of this function at a particular point.
Definition Function.h:399
T calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:429
int getArgumentSize() const override
Get the number of components expected in the input vector.
Definition Function.h:422
This abstract class represents a mathematical function that calculates a value of arbitrary type base...
Definition Function.h:51
T calcDerivative(const std::vector< int > &derivComponents, const Vector &x) const
This provides compatibility with std::vector without requiring any copying.
Definition Function.h:91
virtual Function_ * clone() const
Create a new heap-allocated copy of this concrete Function.
Definition Function.h:109
virtual int getArgumentSize() const =0
Get the number of components expected in the input vector.
virtual T calcValue(const Vector &x) const =0
Calculate the value of this function at a particular point.
virtual T calcDerivative(const Array_< int > &derivComponents, const Vector &x) const =0
Calculate a partial derivative of this function at a particular point.
virtual ~Function_()
Definition Function.h:58
virtual int getMaxDerivativeOrder() const =0
Get the maximum derivative order this Function_ object can calculate.
int size() const
Definition VectorBase.h:396
const Real NaN
This is the IEEE "not a number" constant for this implementation of the default-precision Real type; ...
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition Assembler.h:37
Function_< Real > Function
This typedef is used for the very common case that the return type of the Function object is Real.
Definition Function.h:117
double d3stepAny(double yRange, double x0, double oneOverXRange, double x)
Third derivative of stepAny(): d^3/dx^3 stepAny(x).
Definition Scalar.h:949
double dstepAny(double yRange, double x0, double oneOverXRange, double x)
First derivative of stepAny(): d/dx stepAny(x).
Definition Scalar.h:899
double d2stepAny(double yRange, double x0, double oneOverXRange, double x)
Second derivative of stepAny(): d^2/dx^2 stepAny(x).
Definition Scalar.h:924
unsigned int sign(unsigned char u)
Definition Scalar.h:311
double stepAny(double y0, double yRange, double x0, double oneOverXRange, double x)
Interpolate smoothly from y0 to y1 as the input argument goes from x0 to x1, with first and second de...
Definition Scalar.h:873
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition SimTKcommon/include/SimTKcommon/internal/common.h:606