sleipnir::Gradient Class Reference

This class calculates the gradient of a 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 variable, Variable wrt) noexcept
	Constructs a Gradient object.
	Gradient (Variable variable, const VariableMatrix &wrt) noexcept
	Constructs a Gradient object.
VariableMatrix	Get () const
	Returns the gradient as a VariableMatrix.
const Eigen::SparseVector< double > &	Value ()
	Evaluates the gradient at wrt's value.
Profiler &	GetProfiler ()
	Returns the profiler.

Detailed Description

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

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

Constructor & Destructor Documentation

Gradient() [1/2]

sleipnir::Gradient::Gradient ( Variable variable, Variable wrt )

inlinenoexcept

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]

sleipnir::Gradient::Gradient ( Variable variable, const VariableMatrix & wrt )

inlinenoexcept

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()

VariableMatrix sleipnir::Gradient::Get ( ) const

inline

Returns the gradient as a VariableMatrix.

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

GetProfiler()

Profiler & sleipnir::Gradient::GetProfiler ( )

inline

Returns the profiler.

Value()

const Eigen::SparseVector< double > & sleipnir::Gradient::Value ( )

inline

Evaluates the gradient 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/Gradient.hpp