slp::Jacobian Class Reference

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

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

Public Member Functions
	Jacobian (Variable variable, Variable wrt)
	Constructs a Jacobian object.
	Jacobian (VariableMatrix variables, SleipnirMatrixLike auto wrt)
	Constructs a Jacobian object.
VariableMatrix	get () const
	Returns the Jacobian as a VariableMatrix.
const Eigen::SparseMatrix< double > &	value ()
	Evaluates the Jacobian at wrt's value.

Detailed Description

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

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

Constructor & Destructor Documentation

Jacobian() [1/2]

slp::Jacobian::Jacobian ( Variable variable, Variable wrt )

inline

Constructs a Jacobian object.

Parameters

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

Jacobian() [2/2]

slp::Jacobian::Jacobian ( VariableMatrix variables, SleipnirMatrixLike auto wrt )

inline

Constructs a Jacobian object.

Parameters

variables	Vector of variables of which to compute the Jacobian.
wrt	Vector of variables with respect to which to compute the Jacobian.

Member Function Documentation

get()

VariableMatrix slp::Jacobian::get ( ) const

inline

Returns the Jacobian as a VariableMatrix.

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

Returns

The Jacobian as a VariableMatrix.

value()

const Eigen::SparseMatrix< double > & slp::Jacobian::value ( )

inline

Evaluates the Jacobian at wrt's value.

Returns

The Jacobian at wrt's value.

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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/jacobian.hpp