POLY

The POLY function evaluates a standard polynomial at a specific value $x$ .

Format

$Poly (x, x_{0}, c_{0}, c_{1}, \dots, c_{30})$

Example

<Motion_Joint
     id                  = "301001"
     type                = "EXPRESSION"
     val_type            = "D"
     expr                = "POLY(TIME,0,1,2,3)"
     joint_id            = "10003"
     joint_type          = "R"
  />

Arguments

$x$: The independent variable. For example, to specify time as the independent variable, specify $x$ as TIME.
$x_{0}$: The shift in the polynomial.
$c_{0}, c_{1}, \dots, c_{30}$: The coefficients in the polynomial. Specify only as many coefficients as needed with a maximum of 31 coefficients.

Definition

(1)

$\begin{array}{l} Poly = \sum_{i = 0}^{N} c_{i} {(x - x_{0})}^{i} \\ = c_{0} + c_{1} (x - x_{0}) + c_{2} (x - x_{0})^{2} + \dots + c_{N} (x - x_{0})^{N} \\ where, \\ N = Number of terms in the series (N \leq 30) \end{array}$