A submatrix of autodiff variables with reference semantics. More...

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

Classes
class	const_iterator

class	iterator

Public Member Functions
	VariableBlock (const VariableBlock< Mat > &)=default
	Copy constructor.

VariableBlock< Mat > &	operator= (const VariableBlock< Mat > &values)
	Assigns a VariableBlock to the block.

	VariableBlock (VariableBlock< Mat > &&)=default
	Move constructor.

VariableBlock< Mat > &	operator= (VariableBlock< Mat > &&values)
	Assigns a VariableBlock to the block.

	VariableBlock (Mat &mat)
	Constructs a Variable block pointing to all of the given matrix.

	VariableBlock (Mat &mat, int row_offset, int col_offset, int block_rows, int block_cols)
	Constructs a Variable block pointing to a subset of the given matrix.

	VariableBlock (Mat &mat, Slice row_slice, int row_slice_length, Slice col_slice, int col_slice_length)
	Constructs a Variable block pointing to a subset of the given matrix.

VariableBlock< Mat > &	operator= (ScalarLike auto value)
	Assigns a double to the block.

void	set_value (double value)
	Assigns a double to the block.

template<typename Derived >
VariableBlock< Mat > &	operator= (const Eigen::MatrixBase< Derived > &values)
	Assigns an Eigen matrix to the block.

template<typename Derived > requires std::same_as<typename Derived::Scalar, double>
void	set_value (const Eigen::MatrixBase< Derived > &values)
	Sets block's internal values.

VariableBlock< Mat > &	operator= (const Mat &values)
	Assigns a VariableMatrix to the block.

VariableBlock< Mat > &	operator= (Mat &&values)
	Assigns a VariableMatrix to the block.

Variable &	operator() (int row, int col)
	Returns a scalar subblock at the given row and column.

const Variable &	operator() (int row, int col) const
	Returns a scalar subblock at the given row and column.

Variable &	operator[] (int row)
	Returns a scalar subblock at the given row.

const Variable &	operator[] (int row) const
	Returns a scalar subblock at the given row.

VariableBlock< Mat >	block (int row_offset, int col_offset, int block_rows, int block_cols)
	Returns a block of the variable matrix.

const VariableBlock< const Mat >	block (int row_offset, int col_offset, int block_rows, int block_cols) const
	Returns a block slice of the variable matrix.

VariableBlock< Mat >	operator() (Slice row_slice, Slice col_slice)
	Returns a slice of the variable matrix.

const VariableBlock< const Mat >	operator() (Slice row_slice, Slice col_slice) const
	Returns a slice of the variable matrix.

VariableBlock< Mat >	operator() (Slice row_slice, int row_slice_length, Slice col_slice, int col_slice_length)
	Returns a slice of the variable matrix.

const VariableBlock< const Mat >	operator() (Slice row_slice, int row_slice_length, Slice col_slice, int col_slice_length) const
	Returns a slice of the variable matrix.

VariableBlock< Mat >	segment (int offset, int length)
	Returns a segment of the variable vector.

const VariableBlock< Mat >	segment (int offset, int length) const
	Returns a segment of the variable vector.

VariableBlock< Mat >	row (int row)
	Returns a row slice of the variable matrix.

VariableBlock< const Mat >	row (int row) const
	Returns a row slice of the variable matrix.

VariableBlock< Mat >	col (int col)
	Returns a column slice of the variable matrix.

VariableBlock< const Mat >	col (int col) const
	Returns a column slice of the variable matrix.

VariableBlock< Mat > &	operator*= (const MatrixLike auto &rhs)
	Compound matrix multiplication-assignment operator.

VariableBlock< Mat > &	operator*= (const ScalarLike auto &rhs)
	Compound matrix multiplication-assignment operator.

VariableBlock< Mat > &	operator/= (const MatrixLike auto &rhs)
	Compound matrix division-assignment operator.

VariableBlock< Mat > &	operator/= (const ScalarLike auto &rhs)
	Compound matrix division-assignment operator.

VariableBlock< Mat > &	operator+= (const MatrixLike auto &rhs)
	Compound addition-assignment operator.

VariableBlock< Mat > &	operator+= (const ScalarLike auto &rhs)
	Compound addition-assignment operator.

VariableBlock< Mat > &	operator-= (const MatrixLike auto &rhs)
	Compound subtraction-assignment operator.

VariableBlock< Mat > &	operator-= (const ScalarLike auto &rhs)
	Compound subtraction-assignment operator.

	operator Variable () const
	Implicit conversion operator from 1x1 VariableBlock to Variable.

std::remove_cv_t< Mat >	T () const
	Returns the transpose of the variable matrix.

int	rows () const
	Returns the number of rows in the matrix.

int	cols () const
	Returns the number of columns in the matrix.

double	value (int row, int col)
	Returns an element of the variable matrix.

double	value (int index)
	Returns a row of the variable column vector.

Eigen::MatrixXd	value ()
	Returns the contents of the variable matrix.

std::remove_cv_t< Mat >	cwise_transform (function_ref< Variable(const Variable &x)> unary_op) const
	Transforms the matrix coefficient-wise with an unary operator.

iterator	begin ()
	Returns begin iterator.

iterator	end ()
	Returns end iterator.

const_iterator	begin () const
	Returns begin iterator.

const_iterator	end () const
	Returns end iterator.

const_iterator	cbegin () const
	Returns begin iterator.

const_iterator	cend () const
	Returns end iterator.

size_t	size () const
	Returns number of elements in matrix.

Detailed Description

template<typename Mat>
class slp::VariableBlock< Mat >

A submatrix of autodiff variables with reference semantics.

Template Parameters

Mat	The type of the matrix whose storage this class points to.

Constructor & Destructor Documentation

◆ VariableBlock() [1/5]

template<typename Mat >

slp::VariableBlock< Mat >::VariableBlock ( const VariableBlock< Mat > & )

default

Copy constructor.

◆ VariableBlock() [2/5]

template<typename Mat >

slp::VariableBlock< Mat >::VariableBlock ( VariableBlock< Mat > && )

default

Move constructor.

◆ VariableBlock() [3/5]

template<typename Mat >

slp::VariableBlock< Mat >::VariableBlock ( Mat & mat )

inline

Constructs a Variable block pointing to all of the given matrix.

Parameters

mat	The matrix to which to point.

◆ VariableBlock() [4/5]

template<typename Mat >

slp::VariableBlock< Mat >::VariableBlock	(	Mat &	mat,
		int	row_offset,
		int	col_offset,
		int	block_rows,
		int	block_cols )

inline

Constructs a Variable block pointing to a subset of the given matrix.

Parameters

mat	The matrix to which to point.
row_offset	The block's row offset.
col_offset	The block's column offset.
block_rows	The number of rows in the block.
block_cols	The number of columns in the block.

◆ VariableBlock() [5/5]

template<typename Mat >

slp::VariableBlock< Mat >::VariableBlock	(	Mat &	mat,
		Slice	row_slice,
		int	row_slice_length,
		Slice	col_slice,
		int	col_slice_length )

inline

Constructs a Variable block pointing to a subset of the given matrix.

Note that the slices are taken as is rather than adjusted.

Parameters

mat	The matrix to which to point.
row_slice	The block's row slice.
row_slice_length	The block's row length.
col_slice	The block's column slice.
col_slice_length	The block's column length.

Member Function Documentation

◆ begin() [1/2]

template<typename Mat >

iterator slp::VariableBlock< Mat >::begin ( )

inline

Returns begin iterator.

Returns: Begin iterator.

◆ begin() [2/2]

template<typename Mat >

const_iterator slp::VariableBlock< Mat >::begin ( ) const

inline

Returns begin iterator.

Returns: Begin iterator.

◆ block() [1/2]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::block	(	int	row_offset,
		int	col_offset,
		int	block_rows,
		int	block_cols )

inline

Returns a block of the variable matrix.

Parameters

row_offset	The row offset of the block selection.
col_offset	The column offset of the block selection.
block_rows	The number of rows in the block selection.
block_cols	The number of columns in the block selection.

Returns: A block of the variable matrix.

◆ block() [2/2]

template<typename Mat >

const VariableBlock< const Mat > slp::VariableBlock< Mat >::block	(	int	row_offset,
		int	col_offset,
		int	block_rows,
		int	block_cols ) const

inline

Returns a block slice of the variable matrix.

Parameters

row_offset	The row offset of the block selection.
col_offset	The column offset of the block selection.
block_rows	The number of rows in the block selection.
block_cols	The number of columns in the block selection.

Returns: A block slice of the variable matrix.

◆ cbegin()

template<typename Mat >

const_iterator slp::VariableBlock< Mat >::cbegin ( ) const

inline

Returns begin iterator.

Returns: Begin iterator.

◆ cend()

template<typename Mat >

const_iterator slp::VariableBlock< Mat >::cend ( ) const

inline

Returns end iterator.

Returns: End iterator.

◆ col() [1/2]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::col ( int col )

inline

Returns a column slice of the variable matrix.

Parameters

col	The column to slice.

Returns: A column slice of the variable matrix.

◆ col() [2/2]

template<typename Mat >

VariableBlock< const Mat > slp::VariableBlock< Mat >::col ( int col ) const

inline

Returns a column slice of the variable matrix.

Parameters

col	The column to slice.

Returns: A column slice of the variable matrix.

◆ cols()

template<typename Mat >

int slp::VariableBlock< Mat >::cols ( ) const

inline

Returns the number of columns in the matrix.

Returns: The number of columns in the matrix.

◆ cwise_transform()

template<typename Mat >

std::remove_cv_t< Mat > slp::VariableBlock< Mat >::cwise_transform ( function_ref< Variable(const Variable &x)> unary_op ) const

inline

Transforms the matrix coefficient-wise with an unary operator.

Parameters

unary_op The unary operator to use for the transform operation.

Returns: Result of the unary operator.

◆ end() [1/2]

template<typename Mat >

iterator slp::VariableBlock< Mat >::end ( )

inline

Returns end iterator.

Returns: End iterator.

◆ end() [2/2]

template<typename Mat >

const_iterator slp::VariableBlock< Mat >::end ( ) const

inline

Returns end iterator.

Returns: End iterator.

◆ operator Variable()

template<typename Mat >

slp::VariableBlock< Mat >::operator Variable ( ) const

inline

Implicit conversion operator from 1x1 VariableBlock to Variable.

◆ operator()() [1/6]

template<typename Mat >

Variable & slp::VariableBlock< Mat >::operator()	(	int	row,
		int	col )

inline

Returns a scalar subblock at the given row and column.

Parameters

row	The scalar subblock's row.
col	The scalar subblock's column.

Returns: A scalar subblock at the given row and column.

◆ operator()() [2/6]

template<typename Mat >

const Variable & slp::VariableBlock< Mat >::operator()	(	int	row,
		int	col ) const

inline

Returns a scalar subblock at the given row and column.

Parameters

row	The scalar subblock's row.
col	The scalar subblock's column.

Returns: A scalar subblock at the given row and column.

◆ operator()() [3/6]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::operator()	(	Slice	row_slice,
		int	row_slice_length,
		Slice	col_slice,
		int	col_slice_length )

inline

Returns a slice of the variable matrix.

The given slices aren't adjusted. This overload is for Python bindings only.

Parameters

row_slice	The row slice.
row_slice_length	The row slice length.
col_slice	The column slice.
col_slice_length	The column slice length.

Returns: A slice of the variable matrix.

◆ operator()() [4/6]

template<typename Mat >

const VariableBlock< const Mat > slp::VariableBlock< Mat >::operator()	(	Slice	row_slice,
		int	row_slice_length,
		Slice	col_slice,
		int	col_slice_length ) const

inline

Returns a slice of the variable matrix.

The given slices aren't adjusted. This overload is for Python bindings only.

Parameters

row_slice	The row slice.
row_slice_length	The row slice length.
col_slice	The column slice.
col_slice_length	The column slice length.

Returns: A slice of the variable matrix.

◆ operator()() [5/6]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::operator()	(	Slice	row_slice,
		Slice	col_slice )

inline

Returns a slice of the variable matrix.

Parameters

row_slice	The row slice.
col_slice	The column slice.

Returns: A slice of the variable matrix.

◆ operator()() [6/6]

template<typename Mat >

const VariableBlock< const Mat > slp::VariableBlock< Mat >::operator()	(	Slice	row_slice,
		Slice	col_slice ) const

inline

Returns a slice of the variable matrix.

Parameters

row_slice	The row slice.
col_slice	The column slice.

Returns: A slice of the variable matrix.

◆ operator*=() [1/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator*= ( const MatrixLike auto & rhs )

inline

Compound matrix multiplication-assignment operator.

Parameters

rhs	Variable to multiply.

Returns: Result of multiplication.

◆ operator*=() [2/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator*= ( const ScalarLike auto & rhs )

inline

Compound matrix multiplication-assignment operator.

Parameters

rhs	Variable to multiply.

Returns: Result of multiplication.

◆ operator+=() [1/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator+= ( const MatrixLike auto & rhs )

inline

Compound addition-assignment operator.

Parameters

rhs	Variable to add.

Returns: Result of addition.

◆ operator+=() [2/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator+= ( const ScalarLike auto & rhs )

inline

Compound addition-assignment operator.

Parameters

rhs	Variable to add.

Returns: Result of addition.

◆ operator-=() [1/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator-= ( const MatrixLike auto & rhs )

inline

Compound subtraction-assignment operator.

Parameters

rhs	Variable to subtract.

Returns: Result of subtraction.

◆ operator-=() [2/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator-= ( const ScalarLike auto & rhs )

inline

Compound subtraction-assignment operator.

Parameters

rhs	Variable to subtract.

Returns: Result of subtraction.

◆ operator/=() [1/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator/= ( const MatrixLike auto & rhs )

inline

Compound matrix division-assignment operator.

Parameters

rhs	Variable to divide.

Returns: Result of division.

◆ operator/=() [2/2]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator/= ( const ScalarLike auto & rhs )

inline

Compound matrix division-assignment operator.

Parameters

rhs	Variable to divide.

Returns: Result of division.

◆ operator=() [1/6]

template<typename Mat >

template<typename Derived >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( const Eigen::MatrixBase< Derived > & values )

inline

Assigns an Eigen matrix to the block.

Parameters

values Eigen matrix of values to assign.

Returns: This VariableBlock.

◆ operator=() [2/6]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( const Mat & values )

inline

Assigns a VariableMatrix to the block.

Parameters

values VariableMatrix of values.

Returns: This VariableBlock.

◆ operator=() [3/6]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( const VariableBlock< Mat > & values )

inline

Assigns a VariableBlock to the block.

Parameters

values VariableBlock of values.

Returns: This VariableBlock.

◆ operator=() [4/6]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( Mat && values )

inline

Assigns a VariableMatrix to the block.

Parameters

values VariableMatrix of values.

Returns: This VariableBlock.

◆ operator=() [5/6]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( ScalarLike auto value )

inline

Assigns a double to the block.

This only works for blocks with one row and one column.

Parameters

value Value to assign.

Returns: This VariableBlock.

◆ operator=() [6/6]

template<typename Mat >

VariableBlock< Mat > & slp::VariableBlock< Mat >::operator= ( VariableBlock< Mat > && values )

inline

Assigns a VariableBlock to the block.

Parameters

values VariableBlock of values.

Returns: This VariableBlock.

◆ operator[]() [1/2]

template<typename Mat >

Variable & slp::VariableBlock< Mat >::operator[] ( int row )

inline

Returns a scalar subblock at the given row.

Parameters

row	The scalar subblock's row.

Returns: A scalar subblock at the given row.

◆ operator[]() [2/2]

template<typename Mat >

const Variable & slp::VariableBlock< Mat >::operator[] ( int row ) const

inline

Returns a scalar subblock at the given row.

Parameters

row	The scalar subblock's row.

Returns: A scalar subblock at the given row.

◆ row() [1/2]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::row ( int row )

inline

Returns a row slice of the variable matrix.

Parameters

row	The row to slice.

Returns: A row slice of the variable matrix.

◆ row() [2/2]

template<typename Mat >

VariableBlock< const Mat > slp::VariableBlock< Mat >::row ( int row ) const

inline

Returns a row slice of the variable matrix.

Parameters

row	The row to slice.

Returns: A row slice of the variable matrix.

◆ rows()

template<typename Mat >

int slp::VariableBlock< Mat >::rows ( ) const

inline

Returns the number of rows in the matrix.

Returns: The number of rows in the matrix.

◆ segment() [1/2]

template<typename Mat >

VariableBlock< Mat > slp::VariableBlock< Mat >::segment	(	int	offset,
		int	length )

inline

Returns a segment of the variable vector.

Parameters

offset	The offset of the segment.
length	The length of the segment.

Returns: A segment of the variable vector.

◆ segment() [2/2]

template<typename Mat >

const VariableBlock< Mat > slp::VariableBlock< Mat >::segment	(	int	offset,
		int	length ) const

inline

Returns a segment of the variable vector.

Parameters

offset	The offset of the segment.
length	The length of the segment.

Returns: A segment of the variable vector.

◆ set_value() [1/2]

template<typename Mat >

template<typename Derived >
requires std::same_as<typename Derived::Scalar, double>

void slp::VariableBlock< Mat >::set_value ( const Eigen::MatrixBase< Derived > & values )

inline

Sets block's internal values.

Parameters

values Eigen matrix of values.

◆ set_value() [2/2]

template<typename Mat >

void slp::VariableBlock< Mat >::set_value ( double value )

inline

Assigns a double to the block.

This only works for blocks with one row and one column.

Parameters

value Value to assign.

◆ size()

template<typename Mat >

size_t slp::VariableBlock< Mat >::size ( ) const

inline

Returns number of elements in matrix.

Returns: Number of elements in matrix.

◆ T()

template<typename Mat >

std::remove_cv_t< Mat > slp::VariableBlock< Mat >::T ( ) const

inline

Returns the transpose of the variable matrix.

Returns: The transpose of the variable matrix.

◆ value() [1/3]

template<typename Mat >

Eigen::MatrixXd slp::VariableBlock< Mat >::value ( )

inline

Returns the contents of the variable matrix.

Returns: The contents of the variable matrix.

◆ value() [2/3]

template<typename Mat >

double slp::VariableBlock< Mat >::value ( int index )

inline

Returns a row of the variable column vector.

Parameters

index The index of the element to return.

Returns: A row of the variable column vector.

◆ value() [3/3]

template<typename Mat >

double slp::VariableBlock< Mat >::value	(	int	row,
		int	col )

inline

Returns an element of the variable matrix.

Parameters

row	The row of the element to return.
col	The column of the element to return.

Returns: An element of the variable matrix.

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/variable_block.hpp

Classes

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ VariableBlock() [1/5]

◆ VariableBlock() [2/5]

◆ VariableBlock() [3/5]

◆ VariableBlock() [4/5]

◆ VariableBlock() [5/5]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ block() [1/2]

◆ block() [2/2]

◆ cbegin()

◆ cend()

◆ col() [1/2]

◆ col() [2/2]

◆ cols()

◆ cwise_transform()

◆ end() [1/2]

◆ end() [2/2]

◆ operator Variable()

◆ operator()() [1/6]

◆ operator()() [2/6]

◆ operator()() [3/6]

◆ operator()() [4/6]

◆ operator()() [5/6]

◆ operator()() [6/6]

◆ operator*=() [1/2]

◆ operator*=() [2/2]

◆ operator+=() [1/2]

◆ operator+=() [2/2]

◆ operator-=() [1/2]

◆ operator-=() [2/2]

◆ operator/=() [1/2]

◆ operator/=() [2/2]

◆ operator=() [1/6]

◆ operator=() [2/6]

◆ operator=() [3/6]

◆ operator=() [4/6]

◆ operator=() [5/6]

◆ operator=() [6/6]

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ row() [1/2]

◆ row() [2/2]

◆ rows()

◆ segment() [1/2]

◆ segment() [2/2]

◆ set_value() [1/2]

◆ set_value() [2/2]

◆ size()

◆ T()

◆ value() [1/3]

◆ value() [2/3]

◆ value() [3/3]