slp::Gradient< Scalar > Class Template Reference

This class calculates the gradient of a variable with respect to a vector of variables. More...

#include </home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/gradient.hpp>

Public Member Functions
	Gradient (Variable< Scalar > variable, Variable< Scalar > wrt)
	Constructs a Gradient object.
	Gradient (Variable< Scalar > variable, SleipnirMatrixLike< Scalar > auto wrt)
	Constructs a Gradient object.
VariableMatrix< Scalar >	get () const
	Returns the gradient as a VariableMatrix.
const Eigen::SparseVector< Scalar > &	value ()
	Evaluates the gradient at wrt's value.

Detailed Description

template<typename Scalar>
class slp::Gradient< Scalar >

This class calculates the gradient of a variable with respect to a vector of variables.

The gradient is only recomputed if the variable expression is quadratic or higher order.

Template Parameters

Scalar

Scalar type.

Constructor & Destructor Documentation

Gradient() [1/2]

template<typename Scalar>

slp::Gradient< Scalar >::Gradient ( Variable< Scalar > variable, Variable< Scalar > wrt )

inline

Constructs a Gradient object.

Parameters

variable	Variable of which to compute the gradient.
wrt	Variable with respect to which to compute the gradient.

Gradient() [2/2]

template<typename Scalar>

slp::Gradient< Scalar >::Gradient ( Variable< Scalar > variable, SleipnirMatrixLike< Scalar > auto wrt )

inline

Constructs a Gradient object.

Parameters

variable	Variable of which to compute the gradient.
wrt	Vector of variables with respect to which to compute the gradient.

Member Function Documentation

get()

template<typename Scalar>

VariableMatrix< Scalar > slp::Gradient< Scalar >::get ( ) const

inline

Returns the gradient as a VariableMatrix.

This is useful when constructing optimization problems with derivatives in them.

Returns

The gradient as a VariableMatrix.

value()

template<typename Scalar>

const Eigen::SparseVector< Scalar > & slp::Gradient< Scalar >::value ( )

inline

Evaluates the gradient at wrt's value.

Returns

The gradient at wrt's value.

---

The documentation for this class was generated from the following file:

• /home/runner/work/allwpilib/allwpilib/wpimath/src/main/native/thirdparty/sleipnir/include/sleipnir/autodiff/gradient.hpp