Detailed Description

Describes a Function defined in pieces.

Queries accept p ∈ [p0, p1] with a linear tolerance.

#include <src/maliput_malidrive/road_curve/piecewise_function.h>

Inheritance diagram for PiecewiseFunction:

Public Types
enum	ContinuityCheck { kLog = 0, kThrow }
	Continuity check behavior. More...

Public Member Functions
	PiecewiseFunction (std::vector< std::unique_ptr< Function >> functions, double tolerance, const ContinuityCheck &continuity_check)
	Constructs PiecewiseFunction from a collection of Functions. More...

	PiecewiseFunction (std::vector< std::unique_ptr< Function >> functions, double tolerance)
	Constructs PiecewiseFunction from a collection of Functions. More...

Public Member Functions inherited from Function
	MALIDRIVE_NO_COPY_NO_MOVE_NO_ASSIGN (Function)

virtual	~Function ()=default

double	f (double p) const
	Evaluates \( F(p) \). More...

double	f_dot (double p) const
	Evaluates \( F'(p) \). More...

double	f_dot_dot (double p) const
	Evaluates \( F''(p) \). More...

double	p0 () const

double	p1 () const

bool	IsG1Contiguous () const

Additional Inherited Members
Static Public Attributes inherited from Function
static constexpr double	kEpsilon = 0.
	Implementations may opt to allow a tolerance or be up to `kEpsilon` away from [p0(); p1()]. More...

Protected Member Functions inherited from Function
	Function ()=default

Member Enumeration Documentation

strong

Continuity check behavior.

Enumerator
kLog
kThrow	Log when continuity is violated.

PiecewiseFunction	(	std::vector< std::unique_ptr< Function >>	functions,
		double	tolerance,
		const ContinuityCheck &	continuity_check
	)

Constructs PiecewiseFunction from a collection of Functions.

Functions are expected to be C1 continuous and C1 continuity is evaluated at the extents. Constraints can be disabled with continuity_check.

Parameters

functions	Hold the Functions.
tolerance	Tolerance used to verify continuity.
continuity_check	Select continuity check behavior. ContinuityCheck::kThrow by default.

Exceptions

maliput::common::assertion_error	When `functions` is empty.
maliput::common::assertion_error	When `functions` has a nullptr item.
maliput::common::assertion_error	When two consecutive items in `functions` are not C¹ contiguous up to `tolerance` and `continuity_check` is kThrow.

PiecewiseFunction	(	std::vector< std::unique_ptr< Function >>	functions,
		double	tolerance
	)

Constructs PiecewiseFunction from a collection of Functions.

Parameters

functions	Hold the Functions.
tolerance	Tolerance used to verify continuity.

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