A matrix of autodiff variables. More...

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

Classes
class	const_iterator

class	iterator

Public Member Functions
	VariableMatrix ()=default
	Constructs an empty VariableMatrix.

	VariableMatrix (int rows)
	Constructs a VariableMatrix column vector with the given rows.

	VariableMatrix (int rows, int cols)
	Constructs a VariableMatrix with the given dimensions.

	VariableMatrix (std::initializer_list< std::initializer_list< Variable > > list)
	Constructs a scalar VariableMatrix from a nested list of Variables.

	VariableMatrix (const std::vector< std::vector< double > > &list)
	Constructs a scalar VariableMatrix from a nested list of doubles.

	VariableMatrix (const std::vector< std::vector< Variable > > &list)
	Constructs a scalar VariableMatrix from a nested list of Variables.

template<typename Derived >
	VariableMatrix (const Eigen::MatrixBase< Derived > &values)
	Constructs a VariableMatrix from an Eigen matrix.

template<typename Derived >
	VariableMatrix (const Eigen::DiagonalBase< Derived > &values)
	Constructs a VariableMatrix from an Eigen diagonal matrix.

template<typename Derived >
VariableMatrix &	operator= (const Eigen::MatrixBase< Derived > &values)
	Assigns an Eigen matrix to a VariableMatrix.

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

	VariableMatrix (const Variable &variable)
	Constructs a scalar VariableMatrix from a Variable.

	VariableMatrix (Variable &&variable)
	Constructs a scalar VariableMatrix from a Variable.

	VariableMatrix (const VariableBlock< VariableMatrix > &values)
	Constructs a VariableMatrix from a VariableBlock.

	VariableMatrix (const VariableBlock< const VariableMatrix > &values)
	Constructs a VariableMatrix from a VariableBlock.

	VariableMatrix (std::span< const Variable > values)
	Constructs a column vector wrapper around a Variable array.

	VariableMatrix (std::span< const Variable > values, int rows, int cols)
	Constructs a matrix wrapper around a Variable array.

Variable &	operator() (int row, int col)
	Returns a block pointing to the given row and column.

const Variable &	operator() (int row, int col) const
	Returns a block pointing to the given row and column.

Variable &	operator() (int row)
	Returns a block pointing to the given row.

const Variable &	operator() (int row) const
	Returns a block pointing to the given row.

VariableBlock< VariableMatrix >	Block (int rowOffset, int colOffset, int blockRows, int blockCols)
	Returns a block of the variable matrix.

const VariableBlock< const VariableMatrix >	Block (int rowOffset, int colOffset, int blockRows, int blockCols) const
	Returns a block of the variable matrix.

VariableBlock< VariableMatrix >	operator() (Slice rowSlice, Slice colSlice)
	Returns a slice of the variable matrix.

const VariableBlock< const VariableMatrix >	operator() (Slice rowSlice, Slice colSlice) const
	Returns a slice of the variable matrix.

VariableBlock< VariableMatrix >	operator() (Slice rowSlice, int rowSliceLength, Slice colSlice, int colSliceLength)
	Returns a slice of the variable matrix.

const VariableBlock< const VariableMatrix >	operator() (Slice rowSlice, int rowSliceLength, Slice colSlice, int colSliceLength) const
	Returns a slice of the variable matrix.

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

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

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

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

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

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

VariableMatrix &	operator*= (const VariableMatrix &rhs)
	Compound matrix multiplication-assignment operator.

VariableMatrix &	operator/= (const Variable &rhs)
	Compound matrix division-assignment operator (only enabled when rhs is a scalar).

VariableMatrix &	operator+= (const VariableMatrix &rhs)
	Compound addition-assignment operator.

VariableMatrix &	operator-= (const VariableMatrix &rhs)
	Compound subtraction-assignment operator.

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

VariableMatrix	T () const
	Returns the transpose of the variable matrix.

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

int	Cols () const
	Returns 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.

VariableMatrix	CwiseTransform (function_ref< Variable(const Variable &x)> unaryOp) 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.

Static Public Member Functions
static VariableMatrix	Zero (int rows, int cols)
	Returns a variable matrix filled with zeroes.

static VariableMatrix	Ones (int rows, int cols)
	Returns a variable matrix filled with ones.

Friends
SLEIPNIR_DLLEXPORT VariableMatrix	operator* (const VariableMatrix &lhs, const VariableMatrix &rhs)
	Matrix multiplication operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator* (const VariableMatrix &lhs, const Variable &rhs)
	Matrix-scalar multiplication operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator* (const VariableMatrix &lhs, double rhs)
	Matrix-scalar multiplication operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator* (const Variable &lhs, const VariableMatrix &rhs)
	Scalar-matrix multiplication operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator* (double lhs, const VariableMatrix &rhs)
	Scalar-matrix multiplication operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator/ (const VariableMatrix &lhs, const Variable &rhs)
	Binary division operator (only enabled when rhs is a scalar).

SLEIPNIR_DLLEXPORT VariableMatrix	operator+ (const VariableMatrix &lhs, const VariableMatrix &rhs)
	Binary addition operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator- (const VariableMatrix &lhs, const VariableMatrix &rhs)
	Binary subtraction operator.

SLEIPNIR_DLLEXPORT VariableMatrix	operator- (const VariableMatrix &lhs)
	Unary minus operator.

Detailed Description

A matrix of autodiff variables.

Constructor & Destructor Documentation

◆ VariableMatrix() [1/14]

sleipnir::VariableMatrix::VariableMatrix ( )

default

Constructs an empty VariableMatrix.

◆ VariableMatrix() [2/14]

sleipnir::VariableMatrix::VariableMatrix ( int rows )

inlineexplicit

Constructs a VariableMatrix column vector with the given rows.

Parameters

rows	The number of matrix rows.

◆ VariableMatrix() [3/14]

sleipnir::VariableMatrix::VariableMatrix	(	int	rows,
		int	cols )

inline

Constructs a VariableMatrix with the given dimensions.

Parameters

rows	The number of matrix rows.
cols	The number of matrix columns.

◆ VariableMatrix() [4/14]

sleipnir::VariableMatrix::VariableMatrix ( std::initializer_list< std::initializer_list< Variable > > list )

inline

Constructs a scalar VariableMatrix from a nested list of Variables.

Parameters

list	The nested list of Variables.

◆ VariableMatrix() [5/14]

sleipnir::VariableMatrix::VariableMatrix ( const std::vector< std::vector< double > > & list )

inline

Constructs a scalar VariableMatrix from a nested list of doubles.

This overload is for Python bindings only.

Parameters

list	The nested list of Variables.

◆ VariableMatrix() [6/14]

sleipnir::VariableMatrix::VariableMatrix ( const std::vector< std::vector< Variable > > & list )

inline

Constructs a scalar VariableMatrix from a nested list of Variables.

This overload is for Python bindings only.

Parameters

list	The nested list of Variables.

◆ VariableMatrix() [7/14]

template<typename Derived >

sleipnir::VariableMatrix::VariableMatrix ( const Eigen::MatrixBase< Derived > & values )

inline

Constructs a VariableMatrix from an Eigen matrix.

Parameters

values Eigen matrix of values.

◆ VariableMatrix() [8/14]

template<typename Derived >

sleipnir::VariableMatrix::VariableMatrix ( const Eigen::DiagonalBase< Derived > & values )

inline

Constructs a VariableMatrix from an Eigen diagonal matrix.

Parameters

values Diagonal matrix of values.

◆ VariableMatrix() [9/14]

sleipnir::VariableMatrix::VariableMatrix ( const Variable & variable )

inline

Constructs a scalar VariableMatrix from a Variable.

Parameters

variable Variable.

◆ VariableMatrix() [10/14]

sleipnir::VariableMatrix::VariableMatrix ( Variable && variable )

inline

Constructs a scalar VariableMatrix from a Variable.

Parameters

variable Variable.

◆ VariableMatrix() [11/14]

sleipnir::VariableMatrix::VariableMatrix ( const VariableBlock< VariableMatrix > & values )

inline

Constructs a VariableMatrix from a VariableBlock.

Parameters

values VariableBlock of values.

◆ VariableMatrix() [12/14]

sleipnir::VariableMatrix::VariableMatrix ( const VariableBlock< const VariableMatrix > & values )

inline

Constructs a VariableMatrix from a VariableBlock.

Parameters

values VariableBlock of values.

◆ VariableMatrix() [13/14]

sleipnir::VariableMatrix::VariableMatrix ( std::span< const Variable > values )

inlineexplicit

Constructs a column vector wrapper around a Variable array.

Parameters

values Variable array to wrap.

◆ VariableMatrix() [14/14]

sleipnir::VariableMatrix::VariableMatrix	(	std::span< const Variable >	values,
		int	rows,
		int	cols )

inline

Constructs a matrix wrapper around a Variable array.

Parameters

values	Variable array to wrap.
rows	The number of matrix rows.
cols	The number of matrix columns.

Member Function Documentation

◆ begin() [1/2]

iterator sleipnir::VariableMatrix::begin ( )

inline

Returns begin iterator.

◆ begin() [2/2]

const_iterator sleipnir::VariableMatrix::begin ( ) const

inline

Returns begin iterator.

◆ Block() [1/2]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::Block	(	int	rowOffset,
		int	colOffset,
		int	blockRows,
		int	blockCols )

inline

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.

◆ Block() [2/2]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::Block	(	int	rowOffset,
		int	colOffset,
		int	blockRows,
		int	blockCols ) const

inline

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.

◆ cbegin()

const_iterator sleipnir::VariableMatrix::cbegin ( ) const

inline

Returns begin iterator.

◆ cend()

const_iterator sleipnir::VariableMatrix::cend ( ) const

inline

Returns end iterator.

◆ Col() [1/2]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::Col ( int col )

inline

Returns a column slice of the variable matrix.

Parameters

col	The column to slice.

◆ Col() [2/2]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::Col ( int col ) const

inline

Returns a column slice of the variable matrix.

Parameters

col	The column to slice.

◆ Cols()

int sleipnir::VariableMatrix::Cols ( ) const

inline

Returns number of columns in the matrix.

◆ CwiseTransform()

VariableMatrix sleipnir::VariableMatrix::CwiseTransform ( function_ref< Variable(const Variable &x)> unaryOp ) const

inline

Transforms the matrix coefficient-wise with an unary operator.

Parameters

unaryOp The unary operator to use for the transform operation.

◆ end() [1/2]

iterator sleipnir::VariableMatrix::end ( )

inline

Returns end iterator.

◆ end() [2/2]

const_iterator sleipnir::VariableMatrix::end ( ) const

inline

Returns end iterator.

◆ Ones()

static VariableMatrix sleipnir::VariableMatrix::Ones	(	int	rows,
		int	cols )

inlinestatic

Returns a variable matrix filled with ones.

Parameters

rows	The number of matrix rows.
cols	The number of matrix columns.

◆ operator Variable()

sleipnir::VariableMatrix::operator Variable ( ) const

inline

Implicit conversion operator from 1x1 VariableMatrix to Variable.

◆ operator()() [1/8]

Variable & sleipnir::VariableMatrix::operator() ( int row )

inline

Returns a block pointing to the given row.

Parameters

row	The block row.

◆ operator()() [2/8]

const Variable & sleipnir::VariableMatrix::operator() ( int row ) const

inline

Returns a block pointing to the given row.

Parameters

row	The block row.

◆ operator()() [3/8]

Variable & sleipnir::VariableMatrix::operator()	(	int	row,
		int	col )

inline

Returns a block pointing to the given row and column.

Parameters

row	The block row.
col	The block column.

◆ operator()() [4/8]

const Variable & sleipnir::VariableMatrix::operator()	(	int	row,
		int	col ) const

inline

Returns a block pointing to the given row and column.

Parameters

row	The block row.
col	The block column.

◆ operator()() [5/8]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::operator()	(	Slice	rowSlice,
		int	rowSliceLength,
		Slice	colSlice,
		int	colSliceLength )

inline

Returns a slice of the variable matrix.

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

Parameters

rowSlice	The row slice.
rowSliceLength	The row slice length.
colSlice	The column slice.
colSliceLength	The column slice length.

◆ operator()() [6/8]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::operator()	(	Slice	rowSlice,
		int	rowSliceLength,
		Slice	colSlice,
		int	colSliceLength ) const

inline

Returns a slice of the variable matrix.

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

Parameters

rowSlice	The row slice.
rowSliceLength	The row slice length.
colSlice	The column slice.
colSliceLength	The column slice length.

◆ operator()() [7/8]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::operator()	(	Slice	rowSlice,
		Slice	colSlice )

inline

Returns a slice of the variable matrix.

Parameters

rowSlice	The row slice.
colSlice	The column slice.

◆ operator()() [8/8]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::operator()	(	Slice	rowSlice,
		Slice	colSlice ) const

inline

Returns a slice of the variable matrix.

Parameters

rowSlice	The row slice.
colSlice	The column slice.

◆ operator*=()

VariableMatrix & sleipnir::VariableMatrix::operator*= ( const VariableMatrix & rhs )

inline

Compound matrix multiplication-assignment operator.

Parameters

rhs	Variable to multiply.

◆ operator+=()

VariableMatrix & sleipnir::VariableMatrix::operator+= ( const VariableMatrix & rhs )

inline

Compound addition-assignment operator.

Parameters

rhs	Variable to add.

◆ operator-=()

VariableMatrix & sleipnir::VariableMatrix::operator-= ( const VariableMatrix & rhs )

inline

Compound subtraction-assignment operator.

Parameters

rhs	Variable to subtract.

◆ operator/=()

VariableMatrix & sleipnir::VariableMatrix::operator/= ( const Variable & rhs )

inline

Compound matrix division-assignment operator (only enabled when rhs is a scalar).

Parameters

rhs	Variable to divide.

◆ operator=()

template<typename Derived >

VariableMatrix & sleipnir::VariableMatrix::operator= ( const Eigen::MatrixBase< Derived > & values )

inline

Assigns an Eigen matrix to a VariableMatrix.

Parameters

values Eigen matrix of values.

◆ Row() [1/2]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::Row ( int row )

inline

Returns a row slice of the variable matrix.

Parameters

row	The row to slice.

◆ Row() [2/2]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::Row ( int row ) const

inline

Returns a row slice of the variable matrix.

Parameters

row	The row to slice.

◆ Rows()

int sleipnir::VariableMatrix::Rows ( ) const

inline

Returns number of rows in the matrix.

◆ Segment() [1/2]

VariableBlock< VariableMatrix > sleipnir::VariableMatrix::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.

◆ Segment() [2/2]

const VariableBlock< const VariableMatrix > sleipnir::VariableMatrix::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.

◆ SetValue()

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

void sleipnir::VariableMatrix::SetValue ( const Eigen::MatrixBase< Derived > & values )

inline

Sets the VariableMatrix's internal values.

Parameters

values Eigen matrix of values.

◆ size()

size_t sleipnir::VariableMatrix::size ( ) const

inline

Returns number of elements in matrix.

◆ T()

VariableMatrix sleipnir::VariableMatrix::T ( ) const

inline

Returns the transpose of the variable matrix.

◆ Value() [1/3]

Eigen::MatrixXd sleipnir::VariableMatrix::Value ( )

inline

Returns the contents of the variable matrix.

◆ Value() [2/3]

double sleipnir::VariableMatrix::Value ( int index )

inline

Returns a row of the variable column vector.

Parameters

index The index of the element to return.

◆ Value() [3/3]

double sleipnir::VariableMatrix::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.

◆ Zero()

static VariableMatrix sleipnir::VariableMatrix::Zero	(	int	rows,
		int	cols )

inlinestatic

Returns a variable matrix filled with zeroes.

Parameters

rows	The number of matrix rows.
cols	The number of matrix columns.

Friends And Related Symbol Documentation

◆ operator* [1/5]

SLEIPNIR_DLLEXPORT VariableMatrix operator*	(	const Variable &	lhs,
		const VariableMatrix &	rhs )

friend

Scalar-matrix multiplication operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator* [2/5]

SLEIPNIR_DLLEXPORT VariableMatrix operator*	(	const VariableMatrix &	lhs,
		const Variable &	rhs )

friend

Matrix-scalar multiplication operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator* [3/5]

SLEIPNIR_DLLEXPORT VariableMatrix operator*	(	const VariableMatrix &	lhs,
		const VariableMatrix &	rhs )

friend

Matrix multiplication operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator* [4/5]

SLEIPNIR_DLLEXPORT VariableMatrix operator*	(	const VariableMatrix &	lhs,
		double	rhs )

friend

Matrix-scalar multiplication operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator* [5/5]

SLEIPNIR_DLLEXPORT VariableMatrix operator*	(	double	lhs,
		const VariableMatrix &	rhs )

friend

Scalar-matrix multiplication operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator+

SLEIPNIR_DLLEXPORT VariableMatrix operator+	(	const VariableMatrix &	lhs,
		const VariableMatrix &	rhs )

friend

Binary addition operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator- [1/2]

SLEIPNIR_DLLEXPORT VariableMatrix operator- ( const VariableMatrix & lhs )

friend

Unary minus operator.

Parameters

lhs	Operand for unary minus.

◆ operator- [2/2]

SLEIPNIR_DLLEXPORT VariableMatrix operator-	(	const VariableMatrix &	lhs,
		const VariableMatrix &	rhs )

friend

Binary subtraction operator.

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

◆ operator/

SLEIPNIR_DLLEXPORT VariableMatrix operator/	(	const VariableMatrix &	lhs,
		const Variable &	rhs )

friend

Binary division operator (only enabled when rhs is a scalar).

Parameters

lhs	Operator left-hand side.
rhs	Operator right-hand side.

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/VariableMatrix.hpp

Classes

Public Member Functions

Static Public Member Functions

Friends

Detailed Description

Constructor & Destructor Documentation

◆ VariableMatrix() [1/14]

◆ VariableMatrix() [2/14]

◆ VariableMatrix() [3/14]

◆ VariableMatrix() [4/14]

◆ VariableMatrix() [5/14]

◆ VariableMatrix() [6/14]

◆ VariableMatrix() [7/14]

◆ VariableMatrix() [8/14]

◆ VariableMatrix() [9/14]

◆ VariableMatrix() [10/14]

◆ VariableMatrix() [11/14]

◆ VariableMatrix() [12/14]

◆ VariableMatrix() [13/14]

◆ VariableMatrix() [14/14]

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ Block() [1/2]

◆ Block() [2/2]

◆ cbegin()

◆ cend()

◆ Col() [1/2]

◆ Col() [2/2]

◆ Cols()

◆ CwiseTransform()

◆ end() [1/2]

◆ end() [2/2]

◆ Ones()

◆ operator Variable()

◆ operator()() [1/8]

◆ operator()() [2/8]

◆ operator()() [3/8]

◆ operator()() [4/8]

◆ operator()() [5/8]

◆ operator()() [6/8]

◆ operator()() [7/8]

◆ operator()() [8/8]

◆ operator*=()

◆ operator+=()

◆ operator-=()

◆ operator/=()

◆ operator=()

◆ Row() [1/2]

◆ Row() [2/2]

◆ Rows()

◆ Segment() [1/2]

◆ Segment() [2/2]

◆ SetValue()

◆ size()

◆ T()

◆ Value() [1/3]

◆ Value() [2/3]

◆ Value() [3/3]

◆ Zero()

Friends And Related Symbol Documentation

◆ operator* [1/5]

◆ operator* [2/5]

◆ operator* [3/5]

◆ operator* [4/5]

◆ operator* [5/5]

◆ operator+

◆ operator- [1/2]

◆ operator- [2/2]

◆ operator/