POLY

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

Format

Poly ( x , x 0 , c 0 , c 1 , ⋯ , 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 , ⋯ , c 30
The coefficients in the polynomial. Specify only as many coefficients as needed with a maximum of 31 coefficients.

Definition

(1)
Poly  = ∑ i = 0 N c i ( x − x 0 ) i             = c 0 + c 1 ( x − x 0 ) + c 2 ( x − x 0 ) 2 + ⋯ + c N ( x − x 0 ) N where,       N    =   Number of terms in the series ( N ≤ 30 )