NumericalJacobian.hpp File Reference

#include "wpi/math/linalg/EigenCore.hpp"

Go to the source code of this file.

Namespaces
namespace	wpi
namespace	wpi::math

Functions
template<int Rows, int Cols, typename F>
auto	wpi::math::NumericalJacobian (F &&f, const Vectord< Cols > &x)
	Returns numerical Jacobian with respect to x for f(x).
template<typename F>
Eigen::MatrixXd	wpi::math::NumericalJacobian (F &&f, const Eigen::VectorXd &x)
	Returns numerical Jacobian with respect to x for f(x).
template<int Rows, int States, int Inputs, typename F, typename... Args>
auto	wpi::math::NumericalJacobianX (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
	Returns numerical Jacobian with respect to x for f(x, u, ...).
template<typename F, typename... Args>
auto	wpi::math::NumericalJacobianX (F &&f, const Eigen::VectorXd &x, const Eigen::VectorXd &u, Args &&... args)
	Returns numerical Jacobian with respect to x for f(x, u, ...).
template<int Rows, int States, int Inputs, typename F, typename... Args>
auto	wpi::math::NumericalJacobianU (F &&f, const Vectord< States > &x, const Vectord< Inputs > &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...).
template<typename F, typename... Args>
auto	wpi::math::NumericalJacobianU (F &&f, const Eigen::VectorXd &x, const Eigen::VectorXd &u, Args &&... args)
	Returns numerical Jacobian with respect to u for f(x, u, ...).