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25  <div class="navpath"><b>bdm</b>::<a class="el" href="classbdm_1_1diffbifn.html">diffbifn</a>
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29<h1>bdm::diffbifn Class Reference</h1><!-- doxytag: class="bdm::diffbifn" --><!-- doxytag: inherits="bdm::fnc" -->Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">. 
30<a href="#_details">More...</a>
31<p>
32<code>#include &lt;<a class="el" href="libFN_8h-source.html">libFN.h</a>&gt;</code>
33<p>
34<div class="dynheader">
35Inheritance diagram for bdm::diffbifn:</div>
36<div class="dynsection">
37<p><center><img src="classbdm_1_1diffbifn__inherit__graph.png" border="0" usemap="#bdm_1_1diffbifn__inherit__map" alt="Inheritance graph"></center>
38<map name="bdm_1_1diffbifn__inherit__map">
39<area shape="rect" href="classbdm_1_1bilinfn.html" title="Class representing function ." alt="" coords="5,239,101,265"><area shape="rect" href="classIMk1.html" title="Model stredni hodnoty vyvoje stavu pro k1." alt="" coords="125,239,176,265"><area shape="rect" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to ." alt="" coords="200,239,275,265"><area shape="rect" href="classIMpmsm2o.html" title="State evolution model for a PMSM drive and its derivative with respect to ." alt="" coords="299,239,389,265"><area shape="rect" href="classOMk1.html" title="model stredni hodnoty pozorovani pro k1" alt="" coords="413,239,469,265"><area shape="rect" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to ." alt="" coords="493,239,576,265"><area shape="rect" href="classbdm_1_1fnc.html" title="Class representing function &#160;of variable &#160;represented by rv." alt="" coords="252,84,329,111"><area shape="rect" href="classbdm_1_1base.html" title="Root class of BDM objects." alt="" coords="247,7,335,33"><area shape="rect" href="classIMpmsmStat.html" title="State evolution model for a PMSM drive and its derivative with respect to , equation..." alt="" coords="431,316,535,343"></map>
40<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
41<div class="dynheader">
42Collaboration diagram for bdm::diffbifn:</div>
43<div class="dynsection">
44<p><center><img src="classbdm_1_1diffbifn__coll__graph.png" border="0" usemap="#bdm_1_1diffbifn__coll__map" alt="Collaboration graph"></center>
45<map name="bdm_1_1diffbifn__coll__map">
46<area shape="rect" href="classbdm_1_1fnc.html" title="Class representing function &#160;of variable &#160;represented by rv." alt="" coords="5,87,83,113"><area shape="rect" href="classbdm_1_1base.html" title="Root class of BDM objects." alt="" coords="57,7,145,33"><area shape="rect" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables." alt="" coords="107,87,181,113"></map>
47<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
48
49<p>
50<a href="classbdm_1_1diffbifn-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
51<tr><td></td></tr>
52<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
53<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="188f31066bd72e1bf0ddacd1eb0e6af3"></a><!-- doxytag: member="bdm::diffbifn::eval" ref="188f31066bd72e1bf0ddacd1eb0e6af3" args="(const vec &amp;cond)" -->
54vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3">eval</a> (const vec &amp;cond)</td></tr>
55
56<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png"> (VS: Do we really need common eval? ). <br></td></tr>
57<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="b5462c05b58cd38367ff946836bb82d3"></a><!-- doxytag: member="bdm::diffbifn::eval" ref="b5462c05b58cd38367ff946836bb82d3" args="(const vec &amp;x0, const vec &amp;u0)" -->
58virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#b5462c05b58cd38367ff946836bb82d3">eval</a> (const vec &amp;x0, const vec &amp;u0)</td></tr>
59
60<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png">. <br></td></tr>
61<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac">dfdx_cond</a> (const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</td></tr>
62
63<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$A=\frac{d}{dx}f(x,u)|_{x0,u0}$" src="form_1.png"> and writes result into <code>A</code> .  <a href="#651184f808a35f236dbfea21aca1b6ac"></a><br></td></tr>
64<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#6ea1dc7a482601b29c5ba36a52d20d07">dfdu_cond</a> (const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</td></tr>
65
66<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$A=\frac{d}{du}f(x,u)|_{x0,u0}$" src="form_2.png"> and writes result into <code>A</code> .  <a href="#6ea1dc7a482601b29c5ba36a52d20d07"></a><br></td></tr>
67<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6ecfa9bf42b2421bd56c260a8b2c51e1"></a><!-- doxytag: member="bdm::diffbifn::diffbifn" ref="6ecfa9bf42b2421bd56c260a8b2c51e1" args="(int dimy, const RV rvx0, const RV rvu0)" -->
68&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#6ecfa9bf42b2421bd56c260a8b2c51e1">diffbifn</a> (int <a class="el" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62">dimy</a>, const <a class="el" href="classbdm_1_1RV.html">RV</a> rvx0, const <a class="el" href="classbdm_1_1RV.html">RV</a> rvu0)</td></tr>
69
70<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor (dimy is not set!). <br></td></tr>
71<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1b3c8f5949f13d86d2661e191d4b369b"></a><!-- doxytag: member="bdm::diffbifn::_dimx" ref="1b3c8f5949f13d86d2661e191d4b369b" args="() const " -->
72int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b">_dimx</a> () const </td></tr>
73
74<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
75<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="031458f38c97cdb3aecde16f6a06dced"></a><!-- doxytag: member="bdm::diffbifn::_dimu" ref="031458f38c97cdb3aecde16f6a06dced" args="() const " -->
76int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced">_dimu</a> () const </td></tr>
77
78<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
79<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0786e40fade2663a70d654c1dda5d73e"></a><!-- doxytag: member="bdm::diffbifn::condition" ref="0786e40fade2663a70d654c1dda5d73e" args="(const vec &amp;val)" -->
80virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#0786e40fade2663a70d654c1dda5d73e">condition</a> (const vec &amp;val)</td></tr>
81
82<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function substitutes given value into an appropriate position <br></td></tr>
83<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a2277a400fc9f4d6c0bf24dc7156183f"></a><!-- doxytag: member="bdm::diffbifn::_dimy" ref="a2277a400fc9f4d6c0bf24dc7156183f" args="() const " -->
84int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#a2277a400fc9f4d6c0bf24dc7156183f">_dimy</a> () const </td></tr>
85
86<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
87<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
88<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5f56547d8e9378b669d3cc19d7831cbb"></a><!-- doxytag: member="bdm::diffbifn::rvx" ref="5f56547d8e9378b669d3cc19d7831cbb" args="" -->
89<a class="el" href="classbdm_1_1RV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#5f56547d8e9378b669d3cc19d7831cbb">rvx</a></td></tr>
90
91<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the first rv. <br></td></tr>
92<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8e3e861d5ec2a7ae9524e6338e58320"></a><!-- doxytag: member="bdm::diffbifn::rvu" ref="a8e3e861d5ec2a7ae9524e6338e58320" args="" -->
93<a class="el" href="classbdm_1_1RV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#a8e3e861d5ec2a7ae9524e6338e58320">rvu</a></td></tr>
94
95<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the second rv. <br></td></tr>
96<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a193aa2c4a500139c0c4b669691e588e"></a><!-- doxytag: member="bdm::diffbifn::dimx" ref="a193aa2c4a500139c0c4b669691e588e" args="" -->
97int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e">dimx</a></td></tr>
98
99<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvx.count() <br></td></tr>
100<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="30c45617eec89adeb4ebaa763d093fb0"></a><!-- doxytag: member="bdm::diffbifn::dimu" ref="30c45617eec89adeb4ebaa763d093fb0" args="" -->
101int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0">dimu</a></td></tr>
102
103<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvu.count() <br></td></tr>
104<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="52156cb4a52a62d51fc7455985797a62"></a><!-- doxytag: member="bdm::diffbifn::dimy" ref="52156cb4a52a62d51fc7455985797a62" args="" -->
105int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62">dimy</a></td></tr>
106
107<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Length of the output vector. <br></td></tr>
108</table>
109<hr><a name="_details"></a><h2>Detailed Description</h2>
110Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">.
111<p>
112Function of two variables.<p>
113TODO: 1) Technically, it could have a common parent (e.g. <code><a class="el" href="classbdm_1_1fnc.html" title="Class representing function  of variable  represented by rv.">fnc</a></code> ) with other functions. For now, we keep it as it is. 2) It could be generalized into multivariate form, (which was original meaning of <code><a class="el" href="classbdm_1_1fnc.html" title="Class representing function  of variable  represented by rv.">fnc</a></code> ). <hr><h2>Member Function Documentation</h2>
114<a class="anchor" name="651184f808a35f236dbfea21aca1b6ac"></a><!-- doxytag: member="bdm::diffbifn::dfdx_cond" ref="651184f808a35f236dbfea21aca1b6ac" args="(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)" -->
115<div class="memitem">
116<div class="memproto">
117      <table class="memname">
118        <tr>
119          <td class="memname">virtual void bdm::diffbifn::dfdx_cond           </td>
120          <td>(</td>
121          <td class="paramtype">const vec &amp;&nbsp;</td>
122          <td class="paramname"> <em>x0</em>, </td>
123        </tr>
124        <tr>
125          <td class="paramkey"></td>
126          <td></td>
127          <td class="paramtype">const vec &amp;&nbsp;</td>
128          <td class="paramname"> <em>u0</em>, </td>
129        </tr>
130        <tr>
131          <td class="paramkey"></td>
132          <td></td>
133          <td class="paramtype">mat &amp;&nbsp;</td>
134          <td class="paramname"> <em>A</em>, </td>
135        </tr>
136        <tr>
137          <td class="paramkey"></td>
138          <td></td>
139          <td class="paramtype">bool&nbsp;</td>
140          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
141        </tr>
142        <tr>
143          <td></td>
144          <td>)</td>
145          <td></td><td></td><td><code> [inline, virtual]</code></td>
146        </tr>
147      </table>
148</div>
149<div class="memdoc">
150
151<p>
152Evaluates <img class="formulaInl" alt="$A=\frac{d}{dx}f(x,u)|_{x0,u0}$" src="form_1.png"> and writes result into <code>A</code> .
153<p>
154<dl compact><dt><b>Parameters:</b></dt><dd>
155  <table border="0" cellspacing="2" cellpadding="0">
156    <tr><td valign="top"></td><td valign="top"><em>full</em>&nbsp;</td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr>
157    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr>
158    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr>
159    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
160  </table>
161</dl>
162
163<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#33066f1054dd259df2ec5fafae4b46e6">bdm::bilinfn</a>, <a class="el" href="classIMk1.html#463177c0fdffdf4951761959160cc682">IMk1</a>, <a class="el" href="classOMk1.html#3a6ff61c818d25f95912351aac201cc7">OMk1</a>, <a class="el" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">IMpmsm</a>, <a class="el" href="classIMpmsm2o.html#0a3e125df1e53821e08accbd4960d713">IMpmsm2o</a>, <a class="el" href="classIMpmsmStat.html#29a9c09fd328e89748d9be0801e84831">IMpmsmStat</a>, and <a class="el" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">OMpmsm</a>.</p>
164
165<p>Referenced by <a class="el" href="libKF_8h-source.html#l00368">bdm::EKF&lt; sq_T &gt;::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00189">bdm::EKFCh::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00086">bdm::EKFfull::bayes()</a>, <a class="el" href="libKF_8h-source.html#l00351">bdm::EKF&lt; sq_T &gt;::set_parameters()</a>, <a class="el" href="libKF_8cpp-source.html#l00167">bdm::EKFCh::set_parameters()</a>, and <a class="el" href="libKF_8cpp-source.html#l00066">bdm::EKFfull::set_parameters()</a>.</p>
166
167</div>
168</div><p>
169<a class="anchor" name="6ea1dc7a482601b29c5ba36a52d20d07"></a><!-- doxytag: member="bdm::diffbifn::dfdu_cond" ref="6ea1dc7a482601b29c5ba36a52d20d07" args="(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)" -->
170<div class="memitem">
171<div class="memproto">
172      <table class="memname">
173        <tr>
174          <td class="memname">virtual void bdm::diffbifn::dfdu_cond           </td>
175          <td>(</td>
176          <td class="paramtype">const vec &amp;&nbsp;</td>
177          <td class="paramname"> <em>x0</em>, </td>
178        </tr>
179        <tr>
180          <td class="paramkey"></td>
181          <td></td>
182          <td class="paramtype">const vec &amp;&nbsp;</td>
183          <td class="paramname"> <em>u0</em>, </td>
184        </tr>
185        <tr>
186          <td class="paramkey"></td>
187          <td></td>
188          <td class="paramtype">mat &amp;&nbsp;</td>
189          <td class="paramname"> <em>A</em>, </td>
190        </tr>
191        <tr>
192          <td class="paramkey"></td>
193          <td></td>
194          <td class="paramtype">bool&nbsp;</td>
195          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
196        </tr>
197        <tr>
198          <td></td>
199          <td>)</td>
200          <td></td><td></td><td><code> [inline, virtual]</code></td>
201        </tr>
202      </table>
203</div>
204<div class="memdoc">
205
206<p>
207Evaluates <img class="formulaInl" alt="$A=\frac{d}{du}f(x,u)|_{x0,u0}$" src="form_2.png"> and writes result into <code>A</code> .
208<p>
209<dl compact><dt><b>Parameters:</b></dt><dd>
210  <table border="0" cellspacing="2" cellpadding="0">
211    <tr><td valign="top"></td><td valign="top"><em>full</em>&nbsp;</td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr>
212    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr>
213    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr>
214    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
215  </table>
216</dl>
217
218<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#9cfe2f1c115ba7c3c75849a10a4f2c08">bdm::bilinfn</a>, <a class="el" href="classIMk1.html#2b85f0984da3fe55849bb7b28f66e50c">IMk1</a>, <a class="el" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">IMpmsm</a>, <a class="el" href="classIMpmsm2o.html#27f9d89bce832056f747d985df77a726">IMpmsm2o</a>, and <a class="el" href="classIMpmsmStat.html#ff740ee20100ae2a2d03a2538638f8e8">IMpmsmStat</a>.</p>
219
220</div>
221</div><p>
222<hr>The documentation for this class was generated from the following file:<ul>
223<li>work/git/mixpp/bdm/stat/<a class="el" href="libFN_8h-source.html">libFN.h</a></ul>
224</div>
225<hr size="1"><address style="text-align: right;"><small>Generated on Tue Jan 27 16:31:53 2009 for mixpp by&nbsp;
226<a href="http://www.doxygen.org/index.html">
227<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
228</body>
229</html>
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