Operators are RobOptim tools that allow you to combine functions together.
Let's use some of the built-in RobOptim operators to manipulate basic functions!
Look into the include/roboptim/core/function directory of roboptim-core.
You will see than RobOptim bundles some basic functions, including:
- Cosinus
- Sinus
- Constant
- Identity
- Polynomial
First, try to instantiate a Cos and Sin function. Display their value to make sure that you obtain what you expect.
Instead of instantiating them on the stack, create a shared pointer pointing to these classes.
Reminder: the correct way to instantiate shared pointers is:
#include <boost/make_shared.hpp>
boost::shared_ptr<SOME_TYPE> fPtr = boost::make_shared<SOME_TYPE> (ARG0, ARG1, ...);
f + gf - gλ ff * gg ∘ f(function composition)f'(derivation)
You already instantiated Cosinus and Sinus functions as shared pointers previously. Now, try to combine the two functions as follow:
You should end up with a new function object.
Additionally, use the derivative operator on sinus and display the result.
Use the Gnuplot visualization tools so that running the command:
./002-operator | gnuplot
...display the following graphs:
