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27  <div class="navpath"><a class="el" href="namespacebdm.html">bdm</a>::<a class="el" href="classbdm_1_1diffbifn.html">diffbifn</a>
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31<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">. 
32<a href="#_details">More...</a>
33<p>
34<code>#include &lt;<a class="el" href="libFN_8h-source.html">libFN.h</a>&gt;</code>
35<p>
36<div class="dynheader">
37Inheritance diagram for bdm::diffbifn:</div>
38<div class="dynsection">
39<p><center><img src="classbdm_1_1diffbifn__inherit__graph.png" border="0" usemap="#bdm_1_1diffbifn__inherit__map" alt="Inheritance graph"></center>
40<map name="bdm_1_1diffbifn__inherit__map">
41<area shape="rect" href="classbdm_1_1bilinfn.html" title="Class representing function ." alt="" coords="13,239,109,265"><area shape="rect" href="classbdm_1_1fnc.html" title="Class representing function &#160;of variable &#160;represented by rv." alt="" coords="23,84,100,111"><area shape="rect" href="classbdm_1_1bdmroot.html" title="Root class of BDM objects." alt="" coords="5,7,117,33"></map>
42<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
43<div class="dynheader">
44Collaboration diagram for bdm::diffbifn:</div>
45<div class="dynsection">
46<p><center><img src="classbdm_1_1diffbifn__coll__graph.png" border="0" usemap="#bdm_1_1diffbifn__coll__map" alt="Collaboration graph"></center>
47<map name="bdm_1_1diffbifn__coll__map">
48<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_1bdmroot.html" title="Root class of BDM objects." alt="" coords="45,7,157,33"><area shape="rect" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables." alt="" coords="107,87,181,113"></map>
49<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
50
51<p>
52<a href="classbdm_1_1diffbifn-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
53<tr><td></td></tr>
54<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
55<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)" -->
56vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3">eval</a> (const vec &amp;cond)</td></tr>
57
58<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>
59<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)" -->
60virtual 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>
61
62<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png">. <br></td></tr>
63<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>
64
65<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>
66<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>
67
68<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>
69<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)" -->
70&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>
71
72<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor (dimy is not set!). <br></td></tr>
73<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1b3c8f5949f13d86d2661e191d4b369b"></a><!-- doxytag: member="bdm::diffbifn::_dimx" ref="1b3c8f5949f13d86d2661e191d4b369b" args="() const " -->
74int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b">_dimx</a> () const </td></tr>
75
76<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
77<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="031458f38c97cdb3aecde16f6a06dced"></a><!-- doxytag: member="bdm::diffbifn::_dimu" ref="031458f38c97cdb3aecde16f6a06dced" args="() const " -->
78int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced">_dimu</a> () const </td></tr>
79
80<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
81<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)" -->
82virtual 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>
83
84<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function substitutes given value into an appropriate position <br></td></tr>
85<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a2277a400fc9f4d6c0bf24dc7156183f"></a><!-- doxytag: member="bdm::diffbifn::_dimy" ref="a2277a400fc9f4d6c0bf24dc7156183f" args="() const " -->
86int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#a2277a400fc9f4d6c0bf24dc7156183f">_dimy</a> () const </td></tr>
87
88<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
89<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
90<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5f56547d8e9378b669d3cc19d7831cbb"></a><!-- doxytag: member="bdm::diffbifn::rvx" ref="5f56547d8e9378b669d3cc19d7831cbb" args="" -->
91<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>
92
93<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the first rv. <br></td></tr>
94<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8e3e861d5ec2a7ae9524e6338e58320"></a><!-- doxytag: member="bdm::diffbifn::rvu" ref="a8e3e861d5ec2a7ae9524e6338e58320" args="" -->
95<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>
96
97<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the second rv. <br></td></tr>
98<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a193aa2c4a500139c0c4b669691e588e"></a><!-- doxytag: member="bdm::diffbifn::dimx" ref="a193aa2c4a500139c0c4b669691e588e" args="" -->
99int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e">dimx</a></td></tr>
100
101<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvx.count() <br></td></tr>
102<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="30c45617eec89adeb4ebaa763d093fb0"></a><!-- doxytag: member="bdm::diffbifn::dimu" ref="30c45617eec89adeb4ebaa763d093fb0" args="" -->
103int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0">dimu</a></td></tr>
104
105<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvu.count() <br></td></tr>
106<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="52156cb4a52a62d51fc7455985797a62"></a><!-- doxytag: member="bdm::diffbifn::dimy" ref="52156cb4a52a62d51fc7455985797a62" args="" -->
107int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62">dimy</a></td></tr>
108
109<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Length of the output vector. <br></td></tr>
110</table>
111<hr><a name="_details"></a><h2>Detailed Description</h2>
112Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">.
113<p>
114Function of two variables.<p>
115TODO: 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>
116<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)" -->
117<div class="memitem">
118<div class="memproto">
119      <table class="memname">
120        <tr>
121          <td class="memname">virtual void bdm::diffbifn::dfdx_cond           </td>
122          <td>(</td>
123          <td class="paramtype">const vec &amp;&nbsp;</td>
124          <td class="paramname"> <em>x0</em>, </td>
125        </tr>
126        <tr>
127          <td class="paramkey"></td>
128          <td></td>
129          <td class="paramtype">const vec &amp;&nbsp;</td>
130          <td class="paramname"> <em>u0</em>, </td>
131        </tr>
132        <tr>
133          <td class="paramkey"></td>
134          <td></td>
135          <td class="paramtype">mat &amp;&nbsp;</td>
136          <td class="paramname"> <em>A</em>, </td>
137        </tr>
138        <tr>
139          <td class="paramkey"></td>
140          <td></td>
141          <td class="paramtype">bool&nbsp;</td>
142          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
143        </tr>
144        <tr>
145          <td></td>
146          <td>)</td>
147          <td></td><td></td><td><code> [inline, virtual]</code></td>
148        </tr>
149      </table>
150</div>
151<div class="memdoc">
152
153<p>
154Evaluates <img class="formulaInl" alt="$A=\frac{d}{dx}f(x,u)|_{x0,u0}$" src="form_1.png"> and writes result into <code>A</code> .
155<p>
156<dl compact><dt><b>Parameters:</b></dt><dd>
157  <table border="0" cellspacing="2" cellpadding="0">
158    <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>
159    <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>
160    <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>
161    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
162  </table>
163</dl>
164
165<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#33066f1054dd259df2ec5fafae4b46e6">bdm::bilinfn</a>.</p>
166
167<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>
168
169</div>
170</div><p>
171<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)" -->
172<div class="memitem">
173<div class="memproto">
174      <table class="memname">
175        <tr>
176          <td class="memname">virtual void bdm::diffbifn::dfdu_cond           </td>
177          <td>(</td>
178          <td class="paramtype">const vec &amp;&nbsp;</td>
179          <td class="paramname"> <em>x0</em>, </td>
180        </tr>
181        <tr>
182          <td class="paramkey"></td>
183          <td></td>
184          <td class="paramtype">const vec &amp;&nbsp;</td>
185          <td class="paramname"> <em>u0</em>, </td>
186        </tr>
187        <tr>
188          <td class="paramkey"></td>
189          <td></td>
190          <td class="paramtype">mat &amp;&nbsp;</td>
191          <td class="paramname"> <em>A</em>, </td>
192        </tr>
193        <tr>
194          <td class="paramkey"></td>
195          <td></td>
196          <td class="paramtype">bool&nbsp;</td>
197          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
198        </tr>
199        <tr>
200          <td></td>
201          <td>)</td>
202          <td></td><td></td><td><code> [inline, virtual]</code></td>
203        </tr>
204      </table>
205</div>
206<div class="memdoc">
207
208<p>
209Evaluates <img class="formulaInl" alt="$A=\frac{d}{du}f(x,u)|_{x0,u0}$" src="form_2.png"> and writes result into <code>A</code> .
210<p>
211<dl compact><dt><b>Parameters:</b></dt><dd>
212  <table border="0" cellspacing="2" cellpadding="0">
213    <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>
214    <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>
215    <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>
216    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
217  </table>
218</dl>
219
220<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#9cfe2f1c115ba7c3c75849a10a4f2c08">bdm::bilinfn</a>.</p>
221
222</div>
223</div><p>
224<hr>The documentation for this class was generated from the following file:<ul>
225<li><a class="el" href="libFN_8h-source.html">libFN.h</a></ul>
226</div>
227<hr size="1"><address style="text-align: right;"><small>Generated on Wed Feb 11 10:21:08 2009 for mixpp by&nbsp;
228<a href="http://www.doxygen.org/index.html">
229<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.6 </small></address>
230</body>
231</html>
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