slp::Jacobian< Scalar > Class Template Reference

#include <sleipnir/autodiff/jacobian.hpp>

Public Member Functions
	Jacobian (Variable< Scalar > variable, Variable< Scalar > wrt)
	Jacobian (Variable< Scalar > variable, SleipnirMatrixLike< Scalar > auto wrt)
	Jacobian (VariableMatrix< Scalar > variables, SleipnirMatrixLike< Scalar > auto wrt)
VariableMatrix< Scalar >	get () const
const Eigen::SparseMatrix< Scalar > &	value ()

Detailed Description

template<typename Scalar>
class slp::Jacobian< Scalar >

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.

Template Parameters

Scalar

Scalar type.

Constructor & Destructor Documentation

Jacobian() [1/3]

template<typename Scalar >

slp::Jacobian< Scalar >::Jacobian ( Variable< Scalar >  variable, Variable< Scalar >  wrt  )

inline

Constructs a Jacobian object.

Parameters

variable	Variable of which to compute the Jacobian.
wrt	Variable with respect to which to compute the Jacobian.

Jacobian() [2/3]

template<typename Scalar >

slp::Jacobian< Scalar >::Jacobian ( Variable< Scalar >  variable, SleipnirMatrixLike< Scalar > auto  wrt  )

inline

Constructs a Jacobian object.

Parameters

variable	Variable of which to compute the Jacobian.
wrt	Vector of variables with respect to which to compute the Jacobian.

Jacobian() [3/3]

template<typename Scalar >

slp::Jacobian< Scalar >::Jacobian ( VariableMatrix< Scalar >  variables, SleipnirMatrixLike< Scalar > auto  wrt  )

inline

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()

template<typename Scalar >

VariableMatrix< Scalar > slp::Jacobian< Scalar >::get ( ) const

inline

Returns the Jacobian as a VariableMatrix.

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

Returns

The Jacobian as a VariableMatrix.

value()

template<typename Scalar >

const Eigen::SparseMatrix< Scalar > & slp::Jacobian< Scalar >::value ( )

inline

Evaluates the Jacobian at wrt's value.

Returns

The Jacobian at wrt's value.

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The documentation for this class was generated from the following file:

• include/sleipnir/autodiff/jacobian.hpp