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IrwinHall.h
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1/* ----------------------------------------------------------------------------
2
3 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
4 * Atlanta, Georgia 30332-0415
5 * All Rights Reserved
6 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)
7
8 * See LICENSE for the license information
9
10 * -------------------------------------------------------------------------- */
11
17
18#pragma once
19
20#include <gtsam/basis/PiecewisePolynomial.h>
21#include <gtsam/dllexport.h>
22
23namespace gtsam {
24namespace kernels {
25
42
44extern GTSAM_EXPORT const PiecewisePolynomial<0, 1> IrwinHall0;
46extern GTSAM_EXPORT const PiecewisePolynomial<1, 2> IrwinHall1;
48extern GTSAM_EXPORT const PiecewisePolynomial<2, 3> IrwinHall2;
50extern GTSAM_EXPORT const PiecewisePolynomial<3, 4> IrwinHall3;
52extern GTSAM_EXPORT const PiecewisePolynomial<4, 5> IrwinHall4;
54extern GTSAM_EXPORT const PiecewisePolynomial<5, 6> IrwinHall5;
56extern GTSAM_EXPORT const PiecewisePolynomial<6, 7> IrwinHall6;
57
59extern GTSAM_EXPORT const PiecewisePolynomial<1, 1> IrwinHallCDF0;
61extern GTSAM_EXPORT const PiecewisePolynomial<2, 2> IrwinHallCDF1;
63extern GTSAM_EXPORT const PiecewisePolynomial<3, 3> IrwinHallCDF2;
65extern GTSAM_EXPORT const PiecewisePolynomial<4, 4> IrwinHallCDF3;
67extern GTSAM_EXPORT const PiecewisePolynomial<5, 5> IrwinHallCDF4;
69extern GTSAM_EXPORT const PiecewisePolynomial<6, 6> IrwinHallCDF5;
71extern GTSAM_EXPORT const PiecewisePolynomial<7, 7> IrwinHallCDF6;
72
73} // namespace kernels
74} // namespace gtsam
gtsam::kernels::IrwinHall5
const PiecewisePolynomial< 5, 6 > IrwinHall5({{0., 0., 0., 0., 0., 1./120., 1./20., -1./4., 1./2., -1./2., 1./4., -1./24., -79./20., 39./4., -19./2., 9./2., -1., 1./12., 731./20., -231./4., 71./2., -21./2., 3./2., -1./12., -1829./20., 409./4., -89./2., 19./2., -1., 1./24., 324./5., -54., 18., -3., 1./4., -1./120.}, {0., 1., 2., 3., 4., 5., 6.}, 3.})
Order-five Irwin-Hall PDF.
Definition IrwinHall.h:54
gtsam::kernels::IrwinHall2
const PiecewisePolynomial< 2, 3 > IrwinHall2({{0., 0., 1./2., -3./2., 6./2., -2./2., 9./2., -6./2., 1./2.}, {0., 1., 2., 3.}, 3./2.})
Order-two Irwin-Hall PDF.
Definition IrwinHall.h:48
gtsam::kernels::IrwinHall1
const PiecewisePolynomial< 1, 2 > IrwinHall1({{0., 1., 2., -1.}, {0., 1., 2.}, 1.})
Order-one Irwin-Hall PDF.
Definition IrwinHall.h:46
gtsam::kernels::IrwinHall6
const PiecewisePolynomial< 6, 7 > IrwinHall6({{0., 0., 0., 0., 0., 0., 1./720., -7./720., 7./120., -7./48., 7./36., -7./48., 7./120., -1./120., 1337./720., -133./24., 329./48., -161./36., 77./48., -7./24., 1./48., -12089./360., 196./3., -1253./24., 196./9., -119./24., 7./12., -1./36., 59591./360., -700./3., 3227./24., -364./9., 161./24., -7./12., 1./48., -208943./720., 7525./24., -6671./48., 1169./36., -203./48., 7./24., -1./120., 117649./720., -16807./120., 2401./48., -343./36., 49./48., -7./120., 1./720.}, {0., 1., 2., 3., 4., 5., 6., 7.}, 7./2.})
Order-six Irwin-Hall PDF.
Definition IrwinHall.h:56
gtsam::kernels::IrwinHall3
const PiecewisePolynomial< 3, 4 > IrwinHall3({{0., 0., 0., 1./6., 2./3., -2., 2., -1./2., -22./3., 10., -4., 1./2., 32./3., -8., 2., -1./6.}, {0., 1., 2., 3., 4.}, 2.})
Order-three Irwin-Hall PDF.
Definition IrwinHall.h:50
gtsam::kernels::IrwinHall4
const PiecewisePolynomial< 4, 5 > IrwinHall4({{0., 0., 0., 0., 1./24., -5./24., 5./6., -5./4., 5./6., -1./6., 155./24., -25./2., 35./4., -5./2., 1./4., -655./24., 65./2., -55./4., 5./2., -1./6., 625./24., -125./6., 25./4., -5./6., 1./24.}, {0., 1., 2., 3., 4., 5.}, 5./2.})
Order-four Irwin-Hall PDF.
Definition IrwinHall.h:52
gtsam::kernels::IrwinHall0
const PiecewisePolynomial< 0, 1 > IrwinHall0({{1.}, {0., 1.}, 1./2.})
coefficients for the Irwin Hall Probability Density Functions https://oeis.org/A188816
Definition IrwinHall.h:44
gtsam::kernels::IrwinHallCDF4
GTSAM_EXPORT const PiecewisePolynomial< 5, 5 > IrwinHallCDF4
Quintic cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF0
GTSAM_EXPORT const PiecewisePolynomial< 1, 1 > IrwinHallCDF0
Linear cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF3
GTSAM_EXPORT const PiecewisePolynomial< 4, 4 > IrwinHallCDF3
Quartic cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF1
GTSAM_EXPORT const PiecewisePolynomial< 2, 2 > IrwinHallCDF1
Quadratic cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF6
GTSAM_EXPORT const PiecewisePolynomial< 7, 7 > IrwinHallCDF6
Seventh-degree cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF5
GTSAM_EXPORT const PiecewisePolynomial< 6, 6 > IrwinHallCDF5
Sixth-degree cardinal-spline CDF kernel.
gtsam::kernels::IrwinHallCDF2
GTSAM_EXPORT const PiecewisePolynomial< 3, 3 > IrwinHallCDF2
Cubic cardinal-spline CDF kernel.
PiecewisePolynomial.h
Fixed-order piecewise polynomial kernels with analytic derivatives.
gtsam
Global functions in a separate testing namespace.
Definition chartTesting.h:28
gtsam::PiecewisePolynomial
A one-dimensional piecewise polynomial kernel.
Definition PiecewisePolynomial.h:45