sleipnir::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 (const VariableMatrix &variables, const VariableMatrix &wrt) noexcept
	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.
Profiler &	GetProfiler ()
	Returns the profiler.

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()

sleipnir::Jacobian::Jacobian ( const VariableMatrix & variables, const VariableMatrix & wrt )

inlinenoexcept

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 sleipnir::Jacobian::Get ( ) const

inline

Returns the Jacobian as a VariableMatrix.

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

GetProfiler()

Profiler & sleipnir::Jacobian::GetProfiler ( )

inline

Returns the profiler.

Value()

const Eigen::SparseMatrix< double > & sleipnir::Jacobian::Value ( )

inline

Evaluates 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