slp::detail::AdjointExpressionGraph Class Reference

This class is an adaptor type that performs value updates of an expression's adjoint graph. More...

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

Public Member Functions
	AdjointExpressionGraph (const Variable &root)
	Generates the adjoint graph for the given expression.
void	update_values ()
	Update the values of all nodes in this adjoint graph based on the values of their dependent nodes.
VariableMatrix	generate_gradient_tree (const VariableMatrix &wrt) const
	Returns the variable's gradient tree.
void	append_adjoint_triplets (gch::small_vector< Eigen::Triplet< double > > &triplets, int row, const VariableMatrix &wrt) const
	Updates the adjoints in the expression graph (computes the gradient) then appends the adjoints of wrt to the sparse matrix triplets.

Detailed Description

This class is an adaptor type that performs value updates of an expression's adjoint graph.

Constructor & Destructor Documentation

AdjointExpressionGraph()

slp::detail::AdjointExpressionGraph::AdjointExpressionGraph ( const Variable & root )

inlineexplicit

Generates the adjoint graph for the given expression.

Parameters

root	The root node of the expression.

Member Function Documentation

append_adjoint_triplets()

void slp::detail::AdjointExpressionGraph::append_adjoint_triplets ( gch::small_vector< Eigen::Triplet< double > > & triplets, int row, const VariableMatrix & wrt ) const

inline

Updates the adjoints in the expression graph (computes the gradient) then appends the adjoints of wrt to the sparse matrix triplets.

Parameters

triplets	The sparse matrix triplets.
row	The row of wrt.
wrt	Vector of variables with respect to which to compute the Jacobian.

generate_gradient_tree()

VariableMatrix slp::detail::AdjointExpressionGraph::generate_gradient_tree ( const VariableMatrix & wrt ) const

inline

Returns the variable's gradient tree.

This function lazily allocates variables, so elements of the returned VariableMatrix will be empty if the corresponding element of wrt had no adjoint. Ensure Variable::expr isn't nullptr before calling member functions.

Parameters

wrt	Variables with respect to which to compute the gradient.

Returns

The variable's gradient tree.

update_values()

void slp::detail::AdjointExpressionGraph::update_values ( )

inline

Update the values of all nodes in this adjoint graph based on the values of their dependent nodes.

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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/adjoint_expression_graph.hpp