Class VariableBlock

java.lang.Object

org.wpilib.math.autodiff.VariableBlock

All Implemented Interfaces:

Iterable<Variable>

public class VariableBlock
extends Object
implements Iterable<Variable>

A submatrix of autodiff variables with reference semantics.

Constructor Summary

Constructors

Constructor	Description
VariableBlock(VariableMatrix mat)	Constructs a Variable block pointing to all of the given matrix.
VariableBlock(VariableMatrix mat, int rowOffset, int colOffset, int blockRows, int blockCols)	Constructs a Variable block pointing to a subset of the given matrix.
VariableBlock(VariableMatrix mat, Slice rowSlice, int rowSliceLength, Slice colSlice, int colSliceLength)	Constructs a Variable block pointing to a subset of the given matrix.

Method Summary

Modifier and Type	Method	Description
VariableBlock	block(int rowOffset, int colOffset, int blockRows, int blockCols)	Returns a block of the variable matrix.
VariableBlock	col(int col)	Returns a column slice of the variable matrix.
int	cols()	Returns the number of columns in the matrix.
VariableMatrix	cwiseMap(UnaryOperator<Variable> unaryOp)	Maps the matrix coefficient-wise with an unary operator.
VariableMatrix	div(double rhs)	Binary division operator.
VariableMatrix	div(Variable rhs)	Binary division operator.
Variable	get(int index)	Returns a scalar subblock at the given index.
Variable	get(int row, int col)	Returns a scalar subblock at the given row and column.
VariableBlock	get(int row, Slice colSlice)	Returns a slice of the variable matrix.
VariableBlock	get(int row, Slice.None colSlice)	Returns a slice of the variable matrix.
VariableBlock	get(Slice.None rowSlice, int col)	Returns a slice of the variable matrix.
VariableBlock	get(Slice.None rowSlice, Slice colSlice)	Returns a slice of the variable matrix.
VariableBlock	get(Slice.None rowSlice, Slice.None colSlice)	Returns a slice of the variable matrix.
VariableBlock	get(Slice rowSlice, int col)	Returns a slice of the variable matrix.
VariableBlock	get(Slice rowSlice, Slice colSlice)	Returns a slice of the variable matrix.
VariableBlock	get(Slice rowSlice, Slice.None colSlice)	Returns a slice of the variable matrix.
Iterator<Variable>	iterator()
VariableMatrix	minus(org.ejml.simple.SimpleMatrix rhs)	Binary subtraction operator.
VariableMatrix	minus(VariableBlock rhs)	Binary subtraction operator.
VariableMatrix	minus(VariableMatrix rhs)	Binary subtraction operator.
VariableMatrix	plus(org.ejml.simple.SimpleMatrix rhs)	Binary addition operator.
VariableMatrix	plus(VariableBlock rhs)	Binary addition operator.
VariableMatrix	plus(VariableMatrix rhs)	Binary addition operator.
VariableBlock	row(int row)	Returns a row slice of the variable matrix.
int	rows()	Returns the number of rows in the matrix.
VariableBlock	segment(int offset, int length)	Returns a segment of the variable vector.
VariableBlock	set(double value)	Assigns a double to the block.
VariableBlock	set(double[][] values)	Assigns a double array to the block.
void	set(int index, double value)	Sets a scalar subblock at the given index.
void	set(int row, int col, double value)	Sets a scalar subblock at the given row and column.
void	set(int row, int col, Variable value)	Sets a scalar subblock at the given row and column.
void	set(int index, Variable value)	Sets a scalar subblock at the given index.
VariableBlock	set(org.ejml.simple.SimpleMatrix values)	Assigns an EJML matrix to the block.
VariableBlock	set(Variable value)	Assigns a Variable to the block.
VariableBlock	set(VariableBlock values)	Assigns a VariableBlock to the block.
VariableBlock	set(VariableMatrix values)	Assigns a VariableMatrix to the block.
void	setValue(double value)	Assigns a double to the block.
void	setValue(double[][] values)	Sets block's internal values.
void	setValue(org.ejml.simple.SimpleMatrix values)	Sets block's internal values.
int	size()	Returns number of elements in matrix.
Stream<Variable>	stream()	Creates a Stream of VariableBlock elements.
VariableMatrix	T()	Returns the transpose of the variable matrix.
VariableMatrix	times(double rhs)	Matrix-scalar multiplication operator.
VariableMatrix	times(Variable rhs)	Matrix-scalar multiplication operator.
VariableMatrix	times(VariableBlock rhs)	Matrix multiplication operator.
VariableMatrix	times(VariableMatrix rhs)	Matrix multiplication operator.
VariableMatrix	unaryMinus()	Unary minus operator.
org.ejml.simple.SimpleMatrix	value()	Returns the contents of the variable matrix.
double	value(int index)	Returns an element of the variable block.
double	value(int row, int col)	Returns an element of the variable matrix.

Methods inherited from class Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface Iterable

forEach, spliterator

Constructor Details

VariableBlock

public VariableBlock(VariableMatrix mat)

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

Parameters:

mat - The matrix to which to point.

VariableBlock

public VariableBlock(VariableMatrix mat,
 int rowOffset,
 int colOffset,
 int blockRows,
 int blockCols)

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

Parameters:

mat - The matrix to which to point.

rowOffset - The block's row offset.

colOffset - The block's column offset.

blockRows - The number of rows in the block.

blockCols - The number of columns in the block.

VariableBlock

public VariableBlock(VariableMatrix mat,
 Slice rowSlice,
 int rowSliceLength,
 Slice colSlice,
 int colSliceLength)

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.

rowSlice - The block's row slice.

rowSliceLength - The block's row length.

colSlice - The block's column slice.

colSliceLength - The block's column length.

Method Details

set

public VariableBlock set(double value)

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.

set

public VariableBlock set(Variable value)

Assigns a Variable to the block.

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

Parameters:

value - Value to assign.

Returns:

This VariableBlock.

set

public VariableBlock set(double[][] values)

Assigns a double array to the block.

Parameters:

values - Double array of values to assign.

Returns:

This VariableBlock.

set

public VariableBlock set(org.ejml.simple.SimpleMatrix values)

Assigns an EJML matrix to the block.

Parameters:

values - EJML matrix of values to assign.

Returns:

This VariableBlock.

set

public VariableBlock set(VariableMatrix values)

Assigns a VariableMatrix to the block.

Parameters:

values - VariableMatrix of values.

Returns:

This VariableBlock.

set

public VariableBlock set(VariableBlock values)

Assigns a VariableBlock to the block.

Parameters:

values - VariableBlock of values.

Returns:

This VariableBlock.

set

public void set(int row,
 int col,
 Variable value)

Sets a scalar subblock at the given row and column.

Parameters:

row - The scalar subblock's row.

col - The scalar subblock's column.

value - The value.

set

public void set(int row,
 int col,
 double value)

Sets a scalar subblock at the given row and column.

Parameters:

row - The scalar subblock's row.

col - The scalar subblock's column.

value - The value.

set

public void set(int index,
 double value)

Sets a scalar subblock at the given index.

Parameters:

index - The scalar subblock's index.

value - The value.

set

public void set(int index,
 Variable value)

Sets a scalar subblock at the given index.

Parameters:

index - The scalar subblock's index.

value - The value.

setValue

public void setValue(double value)

Assigns a double to the block.

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

Parameters:

value - Value to assign.

setValue

public void setValue(double[][] values)

Sets block's internal values.

Parameters:

values - Double array of values.

setValue

public void setValue(org.ejml.simple.SimpleMatrix values)

Sets block's internal values.

Parameters:

values - EJML matrix of values.

get

public Variable get(int row,
 int col)

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.

get

public Variable get(int index)

Returns a scalar subblock at the given index.

Parameters:

index - The scalar subblock's index.

Returns:

A scalar subblock at the given index.

get

public VariableBlock get(int row,
 Slice.None colSlice)

Returns a slice of the variable matrix.

Parameters:

row - The row.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(int row,
 Slice colSlice)

Returns a slice of the variable matrix.

Parameters:

row - The row.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice.None rowSlice,
 int col)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

col - The column.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice rowSlice,
 int col)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

col - The column.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice.None rowSlice,
 Slice.None colSlice)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice.None rowSlice,
 Slice colSlice)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice rowSlice,
 Slice.None colSlice)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

get

public VariableBlock get(Slice rowSlice,
 Slice colSlice)

Returns a slice of the variable matrix.

Parameters:

rowSlice - The row slice.

colSlice - The column slice.

Returns:

A slice of the variable matrix.

block

public VariableBlock block(int rowOffset,
 int colOffset,
 int blockRows,
 int blockCols)

Returns a block of the variable matrix.

Parameters:

rowOffset - The row offset of the block selection.

colOffset - The column offset of the block selection.

blockRows - The number of rows in the block selection.

blockCols - The number of columns in the block selection.

Returns:

A block of the variable matrix.

segment

public VariableBlock segment(int offset,
 int length)

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.

row

public VariableBlock row(int row)

Returns a row slice of the variable matrix.

Parameters:

row - The row to slice.

Returns:

A row slice of the variable matrix.

col

public VariableBlock col(int col)

Returns a column slice of the variable matrix.

Parameters:

col - The column to slice.

Returns:

A column slice of the variable matrix.

times

public VariableMatrix times(VariableMatrix rhs)

Matrix multiplication operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of matrix multiplication.

times

public VariableMatrix times(VariableBlock rhs)

Matrix multiplication operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of matrix multiplication.

times

public VariableMatrix times(double rhs)

Matrix-scalar multiplication operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of matrix-scalar multiplication.

times

public VariableMatrix times(Variable rhs)

Matrix-scalar multiplication operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of matrix-scalar multiplication.

div

public VariableMatrix div(double rhs)

Binary division operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of division.

div

public VariableMatrix div(Variable rhs)

Binary division operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of division.

plus

public VariableMatrix plus(VariableMatrix rhs)

Binary addition operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of addition.

plus

public VariableMatrix plus(VariableBlock rhs)

Binary addition operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of addition.

plus

public VariableMatrix plus(org.ejml.simple.SimpleMatrix rhs)

Binary addition operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of addition.

minus

public VariableMatrix minus(VariableMatrix rhs)

Binary subtraction operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of subtraction.

minus

public VariableMatrix minus(VariableBlock rhs)

Binary subtraction operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of subtraction.

minus

public VariableMatrix minus(org.ejml.simple.SimpleMatrix rhs)

Binary subtraction operator.

Parameters:

rhs - Operator right-hand side.

Returns:

Result of subtraction.

unaryMinus

public VariableMatrix unaryMinus()

Unary minus operator.

Returns:

Result of unary minus.

T

public VariableMatrix T()

Returns the transpose of the variable matrix.

Returns:

The transpose of the variable matrix.

rows

public int rows()

Returns the number of rows in the matrix.

Returns:

The number of rows in the matrix.

cols

public int cols()

Returns the number of columns in the matrix.

Returns:

The number of columns in the matrix.

value

public double value(int row,
 int col)

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.

value

public double value(int index)

Returns an element of the variable block.

Parameters:

index - The index of the element to return.

Returns:

An element of the variable block.

value

public org.ejml.simple.SimpleMatrix value()

Returns the contents of the variable matrix.

Returns:

The contents of the variable matrix.

cwiseMap

public VariableMatrix cwiseMap(UnaryOperator<Variable> unaryOp)

Maps the matrix coefficient-wise with an unary operator.

Parameters:

unaryOp - The unary operator to use for the map operation.

Returns:

Result of the unary operator.

size

public int size()

Returns number of elements in matrix.

Returns:

Number of elements in matrix.

iterator

public Iterator<Variable> iterator()

Specified by:

iterator in interface Iterable<Variable>

stream

public Stream<Variable> stream()

Creates a Stream of VariableBlock elements.

Returns:

A Stream of VariableBlock elements.