polynomial_solver.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef GEOMETRY__SOLVER__POLYNOMIAL_SOLVER_HPP_
#define GEOMETRY__SOLVER__POLYNOMIAL_SOLVER_HPP_
 
#include <complex>
#include <vector>
 
namespace math
{
namespace geometry
{
class PolynomialSolver
{
public:
  auto solveLinearEquation(
    const double a, const double b, const double min_value = 0, const double max_value = 1) const
    -> std::vector<double>;
  auto solveQuadraticEquation(
    const double a, const double b, const double c, const double min_value = 0,
    const double max_value = 1) const -> std::vector<double>;
  auto solveCubicEquation(
    const double a, const double b, const double c, const double d, const double min_value = 0,
    const double max_value = 1) const -> std::vector<double>;
  auto linear(const double a, const double b, const double t) const -> double;
  auto quadratic(const double a, const double b, const double c, const double t) const -> double;
  auto cubic(const double a, const double b, const double c, const double d, const double t) const
    -> double;
  constexpr static double tolerance = 1e-7;
 
private:
  auto solveMonicCubicEquationWithComplex(const double a, const double b, const double c) const
    -> std::vector<std::complex<double>>;
  auto filterByRange(
    const std::vector<double> & values, const double min_value, const double max_value) const
    -> std::vector<double>;
  auto isApproximatelyEqualTo(const double value0, const double value1) const -> bool;
};
}  // namespace geometry
}  // namespace math
 
#endif  // GEOMETRY__SOLVER__POLYNOMIAL_SOLVER_HPP_