# POLY

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

## Format

$\text{Poly}\left(x,{x}_{0},{c}_{0},{c}_{1},\cdots ,{c}_{30}\right)$

## 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.
${c}_{0},{c}_{1},\cdots ,{c}_{30}$
The coefficients in the polynomial. Specify only as many coefficients as needed with a maximum of 31 coefficients.

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