// Given some number of polynomials (where each polynomial c0*t^n +
// + c1*t^(n-1) + ... + cn is represented by the std::vector containing
// (c0, c1, ..., cn), find the first time t >= 0 for which:
// 1. Each polynomial is >= 0 at t;
// 2. Each polynomial is > 0 at t + any sufficiently small number epsilon.
// If no such time exists, returns infinity instead.
//
// Does not need to be changed by students.
double PolynomialIntervalSolver::findFirstIntersectionTime(const std::vector<Polynomial> &polys)
{
s_polynomials.insert(s_polynomials.end(), polys.begin(), polys.end());
if(polys.size() == 0)
return std::numeric_limits<double>::infinity();
std::vector<Polynomial>::const_iterator it = polys.begin();
Intervals inter = findPolyIntervals(*it);
for(++it; it != polys.end(); ++it)
{
Intervals nextint = findPolyIntervals(*it);
inter = intersect(inter, nextint);
}
return inter.findNextSatTime(0.0);
}
