gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp > Class Template Reference

#include <gndocpv2.h>

List of all members.

Public Types
enum	{ InputsAtCompileTime = Functor::InputsAtCompileTime, ValuesAtCompileTime = Functor::ValuesAtCompileTime }
typedef _Functor	Functor
typedef Functor::Scalar	Scalar
typedef Functor::InputType	InputType
typedef Functor::ValueType	ValueType
typedef Functor::JacobianType	JacobianType
typedef Matrix< double, _nx, 1 >	Vectornd
typedef Matrix< double, _nu, 1 >	Vectorcd
typedef Matrix< double, _ng, 1 >	Vectorgd
Public Member Functions
	SampleNumericalDiff (Scalar _epsfcn=0.)
	SampleNumericalDiff (const Functor &f, Scalar _epsfcn=0.)
template<typename T0 >
	SampleNumericalDiff (const T0 &a0)
template<typename T0 , typename T1 >
	SampleNumericalDiff (const T0 &a0, const T1 &a1)
template<typename T0 , typename T1 , typename T2 >
	SampleNumericalDiff (const T0 &a0, const T1 &a1, const T2 &a2)
void	Linearize (int Ns)
int	df (const InputType &_x, JacobianType &jac)
Public Attributes
Vectorcd	duscale
	Scales sampled du according to this vector.
Vectornd	dxscale
	Scales sampled dx0 according to this vector.

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>
class gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >

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Member Typedef Documentation

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef _Functor gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Functor

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Functor::InputType gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::InputType

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Functor::JacobianType gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::JacobianType

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Functor::Scalar gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Scalar

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Functor::ValueType gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::ValueType

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Matrix<double, _nu, 1> gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Vectorcd

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Matrix<double, _ng, 1> gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Vectorgd

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

typedef Matrix<double, _nx, 1> gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Vectornd

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Member Enumeration Documentation

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

anonymous enum

Enumerator:

InputsAtCompileTime
ValuesAtCompileTime

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Constructor & Destructor Documentation

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::SampleNumericalDiff

(

Scalar

_epsfcn = 0.

)

[inline]

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::SampleNumericalDiff	(	const Functor &	f,
		Scalar	_epsfcn = 0.
	)		[inline]

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

template<typename T0 >

gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::SampleNumericalDiff

(

const T0 &

a0

)

[inline]

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

template<typename T0 , typename T1 >

gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::SampleNumericalDiff	(	const T0 &	a0,
		const T1 &	a1
	)		[inline]

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

template<typename T0 , typename T1 , typename T2 >

gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::SampleNumericalDiff	(	const T0 &	a0,
		const T1 &	a1,
		const T2 &	a2
	)		[inline]

---

Member Function Documentation

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

int gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::df	(	const InputType &	_x,
		JacobianType &	jac
	)		[inline]

This function finds the jacobian of the residual wrto the parameters. We use the state and control jacobians along the path and analytic basis function evaluations to find a better estimate of the jacobian without finite differences. return the number of evaluation of functor

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

void gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::Linearize

(

int

Ns

)

[inline]

---

Member Data Documentation

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

Vectorcd gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::duscale

Scales sampled du according to this vector.

template<typename _Functor, int _nx = Dynamic, int _nu = Dynamic, int _np = Dynamic, int _ng = Dynamic, int _ntp = Dynamic>

Vectornd gcop::SampleNumericalDiff< _Functor, _nx, _nu, _np, _ng, _ntp >::dxscale

Scales sampled dx0 according to this vector.

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

• lib/algos/gndocpv2.h