Package edu.wpi.first.math.system

Class NumericalJacobian

java.lang.Object

edu.wpi.first.math.system.NumericalJacobian

public final class NumericalJacobian
extends Object

Numerical Jacobian utilities.

Method Summary

Modifier and Type	Method	Description
static <Rows extends Num, Cols extends Num, States extends Num> Matrix<Rows,Cols>	numericalJacobian(Nat<Rows> rows, Nat<Cols> cols, Function<Matrix<Cols,N1>,Matrix<States,N1>> f, Matrix<Cols,N1> x)	Computes the numerical Jacobian with respect to x for f(x).
static <Rows extends Num, States extends Num, Inputs extends Num> Matrix<Rows,Inputs>	numericalJacobianU(Nat<Rows> rows, Nat<Inputs> inputs, BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u)	Returns the numerical Jacobian with respect to u for f(x, u).
static <Rows extends Num, States extends Num, Inputs extends Num, Outputs extends Num> Matrix<Rows,States>	numericalJacobianX(Nat<Rows> rows, Nat<States> states, BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<Outputs,N1>> f, Matrix<States,N1> x, Matrix<Inputs,N1> u)	Returns numerical Jacobian with respect to x for f(x, u, ...).

Methods inherited from class java.lang.Object

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

Method Details

numericalJacobian

public static <Rows extends Num,
Cols extends Num,
States extends Num>
Matrix<Rows,Cols> numericalJacobian(Nat<Rows> rows,
 Nat<Cols> cols,
 Function<Matrix<Cols,N1>,Matrix<States,N1>> f,
 Matrix<Cols,N1> x)

Computes the numerical Jacobian with respect to x for f(x).

Type Parameters:

Rows - Number of rows in the result of f(x).

States - Num representing the number of rows in the output of f.

Cols - Number of columns in the result of f(x).

Parameters:

rows - Number of rows in the result of f(x).

cols - Number of columns in the result of f(x).

f - Vector-valued function from which to compute the Jacobian.

x - Vector argument.

Returns:

The numerical Jacobian with respect to x for f(x, u, ...).

numericalJacobianX

public static <Rows extends Num,
States extends Num,
Inputs extends Num,
Outputs extends Num>
Matrix<Rows,States> numericalJacobianX(Nat<Rows> rows,
 Nat<States> states,
 BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<Outputs,N1>> f,
 Matrix<States,N1> x,
 Matrix<Inputs,N1> u)

Returns numerical Jacobian with respect to x for f(x, u, ...).

Type Parameters:

Rows - Number of rows in the result of f(x, u).

States - Number of rows in x.

Inputs - Number of rows in the second input to f.

Outputs - Num representing the rows in the output of f.

Parameters:

rows - Number of rows in the result of f(x, u).

states - Number of rows in x.

f - Vector-valued function from which to compute Jacobian.

x - State vector.

u - Input vector.

Returns:

The numerical Jacobian with respect to x for f(x, u, ...).

numericalJacobianU

public static <Rows extends Num,
States extends Num,
Inputs extends Num>
Matrix<Rows,Inputs> numericalJacobianU(Nat<Rows> rows,
 Nat<Inputs> inputs,
 BiFunction<Matrix<States,N1>,Matrix<Inputs,N1>,Matrix<States,N1>> f,
 Matrix<States,N1> x,
 Matrix<Inputs,N1> u)

Returns the numerical Jacobian with respect to u for f(x, u).

Type Parameters:

States - The states of the system.

Inputs - The inputs to the system.

Rows - Number of rows in the result of f(x, u).

Parameters:

rows - Number of rows in the result of f(x, u).

inputs - Number of rows in u.

f - Vector-valued function from which to compute the Jacobian.

x - State vector.

u - Input vector.

Returns:

the numerical Jacobian with respect to u for f(x, u).