MRPT  1.9.9
Functions
Find polynomial roots (`#include

Detailed Description

<mrpt/math/poly_roots.h>`)

Collaboration diagram for Find polynomial roots (`#include:

Functions

int mrpt::math::solve_poly3 (double *x, double a, double b, double c) noexcept
 Solves cubic equation x^3 + a*x^2 + b*x + c = 0. More...
 
int mrpt::math::solve_poly4 (double *x, double a, double b, double c, double d) noexcept
 Solves quartic equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method. More...
 
int mrpt::math::solve_poly5 (double *x, double a, double b, double c, double d, double e) noexcept
 Solves equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0. More...
 
int mrpt::math::solve_poly4Bi (double *x, double b, double d) noexcept
 Solve equation x^4 + b*x^2 + d = 0. More...
 
int mrpt::math::solve_poly4De (double *x, double b, double c, double d) noexcept
 Solve equation x^4 + b*x^2 + c*x + d = 0. More...
 
int mrpt::math::solve_poly2 (double a, double b, double c, double &r1, double &r2) noexcept
 Solves equation a*x^2 + b*x + c = 0. More...
 

Function Documentation

◆ solve_poly2()

int mrpt::math::solve_poly2 ( double  a,
double  b,
double  c,
double &  r1,
double &  r2 
)
noexcept

Solves equation a*x^2 + b*x + c = 0.

Returns the number of real roots: either 0 or 2; or 1 if a=0 (in this case the root is in r1). r1, r2 are the roots. (r1<=r2)

Note
Based on poly34.h, by Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html - khash2 (at) gmail.com

Definition at line 394 of file poly_roots.cpp.

References eps.

Referenced by mrpt::nav::collision_free_dist_segment_circ_robot(), mrpt::nav::CPTG_Holo_Blend::getPathPose(), and TEST().

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◆ solve_poly3()

int mrpt::math::solve_poly3 ( double *  x,
double  a,
double  b,
double  c 
)
noexcept

Solves cubic equation x^3 + a*x^2 + b*x + c = 0.

Returns the number of real roots N<=3. The roots are returned in the first entries of x, i.e. x[0] if N=1, x[0] and x[1] if N=2, etc.

Parameters
xarray of size 3
Note
Based on poly34.h, by Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html - khash2 (at) gmail.com

Definition at line 29 of file poly_roots.cpp.

References mrpt::obs::gnss::a2, eps, and TwoPi.

Referenced by SolveP4De(), TEST(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

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◆ solve_poly4()

int mrpt::math::solve_poly4 ( double *  x,
double  a,
double  b,
double  c,
double  d 
)
noexcept

Solves quartic equation x^4 + a*x^3 + b*x^2 + c*x + d = 0 by Dekart-Euler method.

Returns the number of real roots N<=4:

  • return 4: 4 real roots x[0], x[1], x[2], x[3], possible multiple roots
  • return 2: 2 real roots x[0], x[1] and complex x[2]+-i*x[3],
  • return 0: two pair of complex roots: x[0]+-i*x[1], x[2]+-i*x[3],

The roots are returned in the first entries of x, i.e. x[0] if N=1, x[0] and x[1] if N=2, etc.

Parameters
xarray of size 4
Note
Based on poly34.h, by Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html - khash2 (at) gmail.com

Definition at line 247 of file poly_roots.cpp.

References mrpt::obs::gnss::b1, N4Step(), and SolveP4De().

Referenced by mrpt::math::solve_poly5(), TEST(), and mrpt::nav::CPTG_Holo_Blend::updateTPObstacleSingle().

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◆ solve_poly4Bi()

int mrpt::math::solve_poly4Bi ( double *  x,
double  b,
double  d 
)
noexcept

Solve equation x^4 + b*x^2 + d = 0.

◆ solve_poly4De()

int mrpt::math::solve_poly4De ( double *  x,
double  b,
double  c,
double  d 
)
noexcept

Solve equation x^4 + b*x^2 + c*x + d = 0.

◆ solve_poly5()

int mrpt::math::solve_poly5 ( double *  x,
double  a,
double  b,
double  c,
double  d,
double  e 
)
noexcept

Solves equation x^5 + a*x^4 + b*x^3 + c*x^2 + d*x + e = 0.

Returns the number of real roots N<=5. The roots are returned in the first entries of x, i.e. x[0] if N=1, x[0] and x[1] if N=2, etc.

Parameters
xarray of size 5
Note
Based on poly34.h, by Khashin S.I. http://math.ivanovo.ac.ru/dalgebra/Khashin/index.html - khash2 (at) gmail.com

Definition at line 381 of file poly_roots.cpp.

References mrpt::obs::gnss::a1, mrpt::obs::gnss::b1, mrpt::math::solve_poly4(), and SolveP5_1().

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