| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | // This file is part of INSTINCT, the INS Toolkit for Integrated | ||
| 2 | // Navigation Concepts and Training by the Institute of Navigation of | ||
| 3 | // the University of Stuttgart, Germany. | ||
| 4 | // | ||
| 5 | // This Source Code Form is subject to the terms of the Mozilla Public | ||
| 6 | // License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| 7 | // file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| 8 | |||
| 9 | /// @file Polynomial.hpp | ||
| 10 | /// @brief Polynomial | ||
| 11 | /// @author T. Topp (topp@ins.uni-stuttgart.de) | ||
| 12 | /// @date 2023-10-23 | ||
| 13 | |||
| 14 | #pragma once | ||
| 15 | |||
| 16 | #include <cmath> | ||
| 17 | #include <iostream> | ||
| 18 | #include "util/Eigen.hpp" | ||
| 19 | |||
| 20 | namespace NAV | ||
| 21 | { | ||
| 22 | |||
| 23 | /// @brief Polynomial | ||
| 24 | template<typename Scalar> | ||
| 25 | class Polynomial | ||
| 26 | { | ||
| 27 | public: | ||
| 28 | /// @brief Constructor | ||
| 29 | /// @param coefficients Polynomial coefficients in order a0 + a1 * x + a2 * x^2 + ... | ||
| 30 | template<typename Derived> | ||
| 31 | 351183 | Polynomial(const Eigen::DenseBase<Derived>& coefficients) // NOLINT(google-explicit-constructor, hicpp-explicit-conversions) | |
| 32 | 351183 | : _coefficients(coefficients) | |
| 33 | 351183 | {} | |
| 34 | |||
| 35 | /// @brief Calculates the polynomial value at given x | ||
| 36 | /// @param x X value | ||
| 37 | 290666 | [[nodiscard]] Scalar f(Scalar x) const | |
| 38 | { | ||
| 39 | 290666 | Scalar value = 0; | |
| 40 | 290666 | auto xpow = static_cast<Scalar>(1.0); | |
| 41 |
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1162660 | for (const auto& coeff : _coefficients) |
| 42 | { | ||
| 43 | 581328 | value += coeff * xpow; | |
| 44 |
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581328 | xpow *= x; |
| 45 | } | ||
| 46 | 290666 | return value; | |
| 47 | } | ||
| 48 | |||
| 49 | /// @brief Calculates the derivative of the polynomial | ||
| 50 | [[nodiscard]] Polynomial<Scalar> getDerivative() const | ||
| 51 | { | ||
| 52 | int degree = _coefficients.size() - 1; | ||
| 53 | Eigen::VectorX<Scalar> derivative = Eigen::VectorX<Scalar>::Zero(degree); | ||
| 54 | for (int i = 0; i < degree; i++) | ||
| 55 | { | ||
| 56 | derivative(i) = (i + 1) * _coefficients(i + 1); | ||
| 57 | } | ||
| 58 | return Polynomial<Scalar>(derivative); | ||
| 59 | } | ||
| 60 | |||
| 61 | /// @brief Returns the coefficients | ||
| 62 | 64754 | [[nodiscard]] const Eigen::VectorX<Scalar>& coeffs() const | |
| 63 | { | ||
| 64 | 64754 | return _coefficients; | |
| 65 | } | ||
| 66 | |||
| 67 | /// @brief Format the polynomial as a string | ||
| 68 | /// @param[in] fmt Format string for the polynomial coefficients | ||
| 69 | /// @param[in] var Variable name to use | ||
| 70 | 3010 | [[nodiscard]] std::string toString(fmt::format_string<double> fmt = "{:.1e}", const char* var = "x") const | |
| 71 | { | ||
| 72 | 3010 | std::string out; | |
| 73 |
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12025 | for (int i = 0; i < _coefficients.rows(); i++) |
| 74 | { | ||
| 75 |
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9015 | bool positive = _coefficients(i) >= 0; |
| 76 |
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9015 | std::string a = fmt::format(fmt, std::abs(_coefficients(i))); |
| 77 |
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9015 | if (i == 0) |
| 78 | { | ||
| 79 |
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6020 | out += fmt::format("{}{}", positive ? "" : "-", a); |
| 80 | } | ||
| 81 | else | ||
| 82 | { | ||
| 83 |
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12010 | out += fmt::format(" {} {}{}{}", |
| 84 | positive ? "+" : "-", | ||
| 85 | a, | ||
| 86 | var, | ||
| 87 |
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21020 | i > 1 ? fmt::format("^{}", i) : ""); |
| 88 | } | ||
| 89 | } | ||
| 90 | 3010 | return out; | |
| 91 | ✗ | } | |
| 92 | |||
| 93 | private: | ||
| 94 | /// @brief Polynomial coefficients in order a0 + a1 * x + a2 * x^2 + ... | ||
| 95 | Eigen::VectorX<Scalar> _coefficients; | ||
| 96 | }; | ||
| 97 | |||
| 98 | } // namespace NAV | ||
| 99 | |||
| 100 | #ifndef DOXYGEN_IGNORE | ||
| 101 | |||
| 102 | /// @brief Formatter for Polynomial<Scalar> | ||
| 103 | template<typename Scalar> | ||
| 104 | struct fmt::formatter<NAV::Polynomial<Scalar>> : fmt::formatter<std::string> | ||
| 105 | { | ||
| 106 | /// @brief Defines how to format Polynomial structs | ||
| 107 | /// @param[in] poly Struct to format | ||
| 108 | /// @param[in, out] ctx Format context | ||
| 109 | /// @return Output iterator | ||
| 110 | template<typename FormatContext> | ||
| 111 | 5 | auto format(const NAV::Polynomial<Scalar>& poly, FormatContext& ctx) const | |
| 112 | { | ||
| 113 |
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10 | return fmt::formatter<std::string>::format(poly.toString(), ctx); |
| 114 | } | ||
| 115 | }; | ||
| 116 | |||
| 117 | #endif | ||
| 118 | |||
| 119 | /// @brief Stream insertion operator overload | ||
| 120 | /// @param[in, out] os Output stream object to stream the time into | ||
| 121 | /// @param[in] obj Object to print | ||
| 122 | /// @return Returns the output stream object in order to chain stream insertions | ||
| 123 | template<typename Scalar> | ||
| 124 | std::ostream& operator<<(std::ostream& os, const NAV::Polynomial<Scalar>& obj) | ||
| 125 | { | ||
| 126 | return os << fmt::format("{}", obj); | ||
| 127 | } | ||
| 128 |