Class MjPolynomial1f


  • public class MjPolynomial1f
    extends java.lang.Object
    Limited implementation of a floating-point polynomial of 1 variable.
    • Constructor Summary

      Constructors 
      Constructor Description
      MjPolynomial1f()
      Creates a new MjPolynomial1f object.
      MjPolynomial1f​(int iDegree)
      Creates a new MjPolynomial1f object.
    • Method Summary

      All Methods Instance Methods Concrete Methods 
      Modifier and Type Method Description
      java.lang.Float bisection​(float fXMin, float fXMax, int iDigitsAccuracy)
      Returns Float which is null if no root is found; otherwise contains the value of the root.
      float eval​(float fT)
      evaluate this polynomial for the specified value.
      float getCoeff​(int i)
      DOCUMENT ME!
      int getDegree()
      DOCUMENT ME!
      MjPolynomial1f getDerivative()
      return new instance which is the derivative of this instance.
      float getRootBisection()
      Called by computeRadius, finds the root of the
      int getRootsOnInterval​(float fXMin, float fXMax, float[] afRoot, int iDigitsAccuracy)
      afRoot should have length 2; returns number roots found, which are returned in the afRoot array.
      void mul​(MjPolynomial1f kPoly1, MjPolynomial1f kPoly2)
      set this polynomial to the product of two polynomials.
      int rootsDegree3​(float[] afRoot)
      afRoot should have length 3 which is used to return the real roots found; returns 0 if no root can be found, otherwise returns the number of real roots found (1 or 3);
      void scale​(float fScalar)
      sets this instance to the scalar product with itself.
      void set​(MjPolynomial1f kPoly)
      set this polynomial to have the same coefficients as those in the specified polynomial.
      void setCoeff​(int i, float fValue)
      DOCUMENT ME!
      void sub​(MjPolynomial1f kPoly1, MjPolynomial1f kPoly2)
      sets this instance to the difference of two polynomial instances.
      • Methods inherited from class java.lang.Object

        clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait
    • Field Detail

      • ms_fInvLog2

        private static final float ms_fInvLog2
        DOCUMENT ME!
      • ms_fLog10

        private static final float ms_fLog10
        DOCUMENT ME!
      • ms_fSqrt3

        private static final float ms_fSqrt3
        DOCUMENT ME!
      • ms_fTwentySeventh

        private static final float ms_fTwentySeventh
        DOCUMENT ME!
        See Also:
        Constant Field Values
      • m_afCoeff

        protected float[] m_afCoeff
        DOCUMENT ME!
      • m_iDegree

        protected int m_iDegree
        DOCUMENT ME!
    • Constructor Detail

      • MjPolynomial1f

        public MjPolynomial1f()
        Creates a new MjPolynomial1f object.
      • MjPolynomial1f

        public MjPolynomial1f​(int iDegree)
        Creates a new MjPolynomial1f object.
        Parameters:
        iDegree - DOCUMENT ME!
    • Method Detail

      • bisection

        public java.lang.Float bisection​(float fXMin,
                                         float fXMax,
                                         int iDigitsAccuracy)
        Returns Float which is null if no root is found; otherwise contains the value of the root.
        Parameters:
        fXMin - DOCUMENT ME!
        fXMax - DOCUMENT ME!
        iDigitsAccuracy - DOCUMENT ME!
        Returns:
        DOCUMENT ME!
      • eval

        public float eval​(float fT)
        evaluate this polynomial for the specified value.
        Parameters:
        fT - DOCUMENT ME!
        Returns:
        DOCUMENT ME!
      • getCoeff

        public float getCoeff​(int i)
        DOCUMENT ME!
        Parameters:
        i - DOCUMENT ME!
        Returns:
        DOCUMENT ME!
      • getDegree

        public int getDegree()
        DOCUMENT ME!
        Returns:
        DOCUMENT ME!
      • getDerivative

        public MjPolynomial1f getDerivative()
        return new instance which is the derivative of this instance.
        Returns:
        DOCUMENT ME!
      • getRootBisection

        public float getRootBisection()
        Called by computeRadius, finds the root of the
        Returns:
        DOCUMENT ME!
        • getRootsOnInterval

          public int getRootsOnInterval​(float fXMin,
                                        float fXMax,
                                        float[] afRoot,
                                        int iDigitsAccuracy)
          afRoot should have length 2; returns number roots found, which are returned in the afRoot array.
          Parameters:
          fXMin - DOCUMENT ME!
          fXMax - DOCUMENT ME!
          afRoot - DOCUMENT ME!
          iDigitsAccuracy - DOCUMENT ME!
          Returns:
          DOCUMENT ME!
        • mul

          public void mul​(MjPolynomial1f kPoly1,
                          MjPolynomial1f kPoly2)
          set this polynomial to the product of two polynomials.
          Parameters:
          kPoly1 - DOCUMENT ME!
          kPoly2 - DOCUMENT ME!
        • rootsDegree3

          public int rootsDegree3​(float[] afRoot)
          afRoot should have length 3 which is used to return the real roots found; returns 0 if no root can be found, otherwise returns the number of real roots found (1 or 3);
          Parameters:
          afRoot - DOCUMENT ME!
          Returns:
          DOCUMENT ME!
        • scale

          public void scale​(float fScalar)
          sets this instance to the scalar product with itself.
          Parameters:
          fScalar - DOCUMENT ME!
        • set

          public void set​(MjPolynomial1f kPoly)
          set this polynomial to have the same coefficients as those in the specified polynomial.
          Parameters:
          kPoly - DOCUMENT ME!
        • setCoeff

          public void setCoeff​(int i,
                               float fValue)
          DOCUMENT ME!
          Parameters:
          i - DOCUMENT ME!
          fValue - DOCUMENT ME!
        • sub

          public void sub​(MjPolynomial1f kPoly1,
                          MjPolynomial1f kPoly2)
          sets this instance to the difference of two polynomial instances.
          Parameters:
          kPoly1 - DOCUMENT ME!
          kPoly2 - DOCUMENT ME!