<commit_before>#pragma once

#include <complex>
#include <map>
#include <random>
#include <set>
#include <stdexcept>
#include <string>
#include <vector>

#include <Eigen/Core>
#include <unsupported/Eigen/Polynomials>

#include "drake/common/eigen_autodiff_types.h"
#include "drake/drakePolynomial_export.h"

/** A scalar multi-variate polynomial, modeled after the msspoly in spotless.
 *
 * Polynomial represents a list of additive Monomials, each one of which is a
 * product of a constant coefficient (of _CoefficientType, which by default is
 * double) and any number of distinct Terms (variables raised to positive
 * integer powers).
 *
 * Variables are identified by integer indices rather than symbolic names, but
 * an automatic facility is provided to covert variable names up to four
 * characters into unique integers, provided those variables are named using
 * only lowercase letters and the "@#_." characters followed by a number.  For
 * example, valid names include "dx4" and "m_x".
 *
 * Monomials which have the same variables and powers may be constructed but
 * will be automatically combined:
 *   (3 * a * b * a) + (1.5 * b * a**2)
 * will be reduced to
 *   (4.5 * b * a**2)
 * internally after construction.
 *
 * Polynomials can be added, subtracted, and multiplied.  They may only be
 * divided by scalars (of _CoefficientType) because Polynomials are not closed
 * under division.
 */
template <typename _CoefficientType = double>
class DRAKEPOLYNOMIAL_EXPORT Polynomial {
 public:
  typedef _CoefficientType CoefficientType;
  typedef unsigned int VarType;
  /// This should be 'unsigned int' but MSVC considers a call to std::pow(...,
  /// unsigned int) ambiguous because it won't cast unsigned int to int.
  typedef int PowerType;
  typedef typename Eigen::NumTraits<CoefficientType>::Real RealScalar;
  typedef std::complex<RealScalar> RootType;
  typedef Eigen::Matrix<RootType, Eigen::Dynamic, 1> RootsType;

  template <typename Rhs, typename Lhs>
  struct Product {
    typedef decltype((Rhs)0 * (Lhs)0) type;
  };

  /// An individual variable raised to an integer power; e.g. x**2.
  class DRAKEPOLYNOMIAL_EXPORT Term {
   public:
    VarType var;
    PowerType power;

    bool operator==(const Term& other) const {
      return (var == other.var) && (power == other.power);
    }

    /// A comparison to allow std::lexicographical_compare on this class; does
    /// not reflect any sort of mathematical total order.
    bool operator<(const Term& other) const {
      return ((var < other.var) ||
              ((var == other.var) && (power < other.power)));
    }
  };

  /// An additive atom of a Polynomial: The product of any number of
  /// Terms and a coefficient.
  class DRAKEPOLYNOMIAL_EXPORT Monomial {
   public:
    CoefficientType coefficient;
    std::vector<Term> terms;  // a list of N variable ids

    bool operator==(const Monomial& other) const {
      return (coefficient == other.coefficient) && (terms == other.terms);
    }

    /// A comparison to allow std::lexicographical_compare on this class; does
    /// not reflect any sort of mathematical total order.
    bool operator<(const Monomial& other) const {
      return ((coefficient < other.coefficient)  ||
              ((coefficient == other.coefficient) && (terms < other.terms)));
    }

    int GetDegree() const;
    int GetDegreeOf(VarType var) const;<commit_msg>Change export flags on polynomial to be sensible<commit_after>#pragma once

#include <complex>
#include <map>
#include <random>
#include <set>
#include <stdexcept>
#include <string>
#include <vector>

#include <Eigen/Core>
#include <unsupported/Eigen/Polynomials>

#include "drake/common/eigen_autodiff_types.h"
#include "drake/drakeCommon_export.h"

/** A scalar multi-variate polynomial, modeled after the msspoly in spotless.
 *
 * Polynomial represents a list of additive Monomials, each one of which is a
 * product of a constant coefficient (of _CoefficientType, which by default is
 * double) and any number of distinct Terms (variables raised to positive
 * integer powers).
 *
 * Variables are identified by integer indices rather than symbolic names, but
 * an automatic facility is provided to covert variable names up to four
 * characters into unique integers, provided those variables are named using
 * only lowercase letters and the "@#_." characters followed by a number.  For
 * example, valid names include "dx4" and "m_x".
 *
 * Monomials which have the same variables and powers may be constructed but
 * will be automatically combined:
 *   (3 * a * b * a) + (1.5 * b * a**2)
 * will be reduced to
 *   (4.5 * b * a**2)
 * internally after construction.
 *
 * Polynomials can be added, subtracted, and multiplied.  They may only be
 * divided by scalars (of _CoefficientType) because Polynomials are not closed
 * under division.
 */
template <typename _CoefficientType = double>
class DRAKECOMMON_EXPORT Polynomial {
 public:
  typedef _CoefficientType CoefficientType;
  typedef unsigned int VarType;
  /// This should be 'unsigned int' but MSVC considers a call to std::pow(...,
  /// unsigned int) ambiguous because it won't cast unsigned int to int.
  typedef int PowerType;
  typedef typename Eigen::NumTraits<CoefficientType>::Real RealScalar;
  typedef std::complex<RealScalar> RootType;
  typedef Eigen::Matrix<RootType, Eigen::Dynamic, 1> RootsType;

  template <typename Rhs, typename Lhs>
  struct Product {
    typedef decltype((Rhs)0 * (Lhs)0) type;
  };

  /// An individual variable raised to an integer power; e.g. x**2.
  class DRAKECOMMON_EXPORT Term {
   public:
    VarType var;
    PowerType power;

    bool operator==(const Term& other) const {
      return (var == other.var) && (power == other.power);
    }

    /// A comparison to allow std::lexicographical_compare on this class; does
    /// not reflect any sort of mathematical total order.
    bool operator<(const Term& other) const {
      return ((var < other.var) ||
              ((var == other.var) && (power < other.power)));
    }
  };

  /// An additive atom of a Polynomial: The product of any number of
  /// Terms and a coefficient.
  class DRAKECOMMON_EXPORT Monomial {
   public:
    CoefficientType coefficient;
    std::vector<Term> terms;  // a list of N variable ids

    bool operator==(const Monomial& other) const {
      return (coefficient == other.coefficient) && (terms == other.terms);
    }

    /// A comparison to allow std::lexicographical_compare on this class; does
    /// not reflect any sort of mathematical total order.
    bool operator<(const Monomial& other) const {
      return ((coefficient < other.coefficient)  ||
              ((coefficient == other.coefficient) && (terms < other.terms)));
    }

    int GetDegree() const;
    int GetDegreeOf(VarType var) const;
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