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| 21 | <li><a href="functions.html"><span>Class Members</span></a></li> |
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| [23] | 24 | </div> |
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| [91] | 25 | <div class="contents"> |
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| 26 | <h1>diffbifn Class Reference</h1><!-- doxytag: class="diffbifn" --><!-- doxytag: inherits="fnc" -->Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">. |
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| [23] | 27 | <a href="#_details">More...</a> |
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| 28 | <p> |
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| 29 | <code>#include <<a class="el" href="libFN_8h-source.html">libFN.h</a>></code> |
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| 30 | <p> |
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| 31 | <div class="dynheader"> |
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| 32 | Inheritance diagram for diffbifn:</div> |
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| 33 | <div class="dynsection"> |
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| 34 | <p><center><img src="classdiffbifn__inherit__graph.png" border="0" usemap="#diffbifn__inherit__map" alt="Inheritance graph"></center> |
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| 35 | <map name="diffbifn__inherit__map"> |
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| [91] | 36 | <area shape="rect" href="classbilinfn.html" title="Class representing function ." alt="" coords="5,156,61,180"><area shape="rect" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$." alt="" coords="85,156,157,180"><area shape="rect" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$." alt="" coords="181,156,259,180"><area shape="rect" href="classfnc.html" title="Class representing function of variable represented by rv." alt="" coords="101,6,141,30"></map> |
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| [23] | 37 | <center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div> |
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| 38 | <div class="dynheader"> |
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| 39 | Collaboration diagram for diffbifn:</div> |
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| 40 | <div class="dynsection"> |
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| 41 | <p><center><img src="classdiffbifn__coll__graph.png" border="0" usemap="#diffbifn__coll__map" alt="Collaboration graph"></center> |
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| 42 | <map name="diffbifn__coll__map"> |
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| [91] | 43 | <area shape="rect" href="classfnc.html" title="Class representing function of variable represented by rv." alt="" coords="5,6,45,30"><area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="69,6,107,30"></map> |
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| [23] | 44 | <center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div> |
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| 45 | |
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| 46 | <p> |
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| 47 | <a href="classdiffbifn-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0"> |
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| 48 | <tr><td></td></tr> |
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| 49 | <tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr> |
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| 50 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ad7673e16aa1a046b131b24c731c4632"></a><!-- doxytag: member="diffbifn::eval" ref="ad7673e16aa1a046b131b24c731c4632" args="(const vec &cond)" --> |
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| 51 | vec </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632">eval</a> (const vec &cond)</td></tr> |
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| 52 | |
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| [91] | 53 | <tr><td class="mdescLeft"> </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> |
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| [23] | 54 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="40d8a7eee45acc55cda33d43282faa03"></a><!-- doxytag: member="diffbifn::eval" ref="40d8a7eee45acc55cda33d43282faa03" args="(const vec &x0, const vec &u0)" --> |
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| 55 | virtual vec </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#40d8a7eee45acc55cda33d43282faa03">eval</a> (const vec &x0, const vec &u0)</td></tr> |
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| 56 | |
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| [91] | 57 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_49.png">. <br></td></tr> |
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| [23] | 58 | <tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</a> (const vec &x0, const vec &u0, mat &A, bool full=true)</td></tr> |
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| 59 | |
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| 60 | <tr><td class="mdescLeft"> </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="#6d217a02d4fa13931258d4bebdd0feb4"></a><br></td></tr> |
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| 61 | <tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0">dfdu_cond</a> (const vec &x0, const vec &u0, mat &A, bool full=true)</td></tr> |
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| 62 | |
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| 63 | <tr><td class="mdescLeft"> </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="#1978bafd7909d15c139a08c495c24aa0"></a><br></td></tr> |
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| [79] | 64 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="797772c0d5aab8ddccec19dfe4bb2d77"></a><!-- doxytag: member="diffbifn::diffbifn" ref="797772c0d5aab8ddccec19dfe4bb2d77" args="(int dimy, const RV rvx0, const RV rvu0)" --> |
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| 65 | </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#797772c0d5aab8ddccec19dfe4bb2d77">diffbifn</a> (int <a class="el" href="classfnc.html#22d51d10a7901331167f64f80d1af8e9">dimy</a>, const <a class="el" href="classRV.html">RV</a> rvx0, const <a class="el" href="classRV.html">RV</a> rvu0)</td></tr> |
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| [23] | 66 | |
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| 67 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Default constructor (dimy is not set!). <br></td></tr> |
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| 68 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="436de7a7301ea9eac7d6081b893bbf57"></a><!-- doxytag: member="diffbifn::_dimx" ref="436de7a7301ea9eac7d6081b893bbf57" args="() const " --> |
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| 69 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57">_dimx</a> () const </td></tr> |
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| 70 | |
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| 71 | <tr><td class="mdescLeft"> </td><td class="mdescRight">access function <br></td></tr> |
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| 72 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="fc8779acbff170611aff0ee70cee3879"></a><!-- doxytag: member="diffbifn::_dimu" ref="fc8779acbff170611aff0ee70cee3879" args="() const " --> |
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| 73 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879">_dimu</a> () const </td></tr> |
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| 74 | |
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| 75 | <tr><td class="mdescLeft"> </td><td class="mdescRight">access function <br></td></tr> |
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| [28] | 76 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8891973d0ca48ce38e1886df45ca298"></a><!-- doxytag: member="diffbifn::_dimy" ref="a8891973d0ca48ce38e1886df45ca298" args="() const " --> |
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| 77 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classfnc.html#a8891973d0ca48ce38e1886df45ca298">_dimy</a> () const </td></tr> |
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| 78 | |
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| 79 | <tr><td class="mdescLeft"> </td><td class="mdescRight">access function <br></td></tr> |
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| [23] | 80 | <tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr> |
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| 81 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bcf96b86250c3cbd465ba5ee62474b75"></a><!-- doxytag: member="diffbifn::rvx" ref="bcf96b86250c3cbd465ba5ee62474b75" args="" --> |
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| [33] | 82 | <a class="el" href="classRV.html">RV</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75">rvx</a></td></tr> |
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| [23] | 83 | |
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| [33] | 84 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Indentifier of the first rv. <br></td></tr> |
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| [23] | 85 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c41c74c7942dba51ef0b0bfed963447d"></a><!-- doxytag: member="diffbifn::rvu" ref="c41c74c7942dba51ef0b0bfed963447d" args="" --> |
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| [33] | 86 | <a class="el" href="classRV.html">RV</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d">rvu</a></td></tr> |
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| [23] | 87 | |
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| [33] | 88 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Indentifier of the second rv. <br></td></tr> |
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| [23] | 89 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f6918bc0a9dad656b4cddc028137eb78"></a><!-- doxytag: member="diffbifn::dimx" ref="f6918bc0a9dad656b4cddc028137eb78" args="" --> |
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| [33] | 90 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78">dimx</a></td></tr> |
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| [23] | 91 | |
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| [33] | 92 | <tr><td class="mdescLeft"> </td><td class="mdescRight">cache for rvx.count() <br></td></tr> |
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| [23] | 93 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2e07ce491e973f03d763e37624d0fe79"></a><!-- doxytag: member="diffbifn::dimu" ref="2e07ce491e973f03d763e37624d0fe79" args="" --> |
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| [33] | 94 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79">dimu</a></td></tr> |
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| [23] | 95 | |
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| [33] | 96 | <tr><td class="mdescLeft"> </td><td class="mdescRight">cache for rvu.count() <br></td></tr> |
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| [28] | 97 | <tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="22d51d10a7901331167f64f80d1af8e9"></a><!-- doxytag: member="diffbifn::dimy" ref="22d51d10a7901331167f64f80d1af8e9" args="" --> |
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| [33] | 98 | int </td><td class="memItemRight" valign="bottom"><a class="el" href="classfnc.html#22d51d10a7901331167f64f80d1af8e9">dimy</a></td></tr> |
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| [23] | 99 | |
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| [33] | 100 | <tr><td class="mdescLeft"> </td><td class="mdescRight">Length of the output vector. <br></td></tr> |
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| [23] | 101 | </table> |
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| 102 | <hr><a name="_details"></a><h2>Detailed Description</h2> |
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| [91] | 103 | Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_47.png">. |
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| [23] | 104 | <p> |
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| 105 | Function of two variables.<p> |
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| [91] | 106 | TODO: 1) Technically, it could have a common parent (e.g. <code><a class="el" href="classfnc.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="classfnc.html" title="Class representing function of variable represented by rv.">fnc</a></code> ). <hr><h2>Member Function Documentation</h2> |
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| [23] | 107 | <a class="anchor" name="6d217a02d4fa13931258d4bebdd0feb4"></a><!-- doxytag: member="diffbifn::dfdx_cond" ref="6d217a02d4fa13931258d4bebdd0feb4" args="(const vec &x0, const vec &u0, mat &A, bool full=true)" --> |
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| 108 | <div class="memitem"> |
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| 109 | <div class="memproto"> |
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| 110 | <table class="memname"> |
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| 111 | <tr> |
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| 112 | <td class="memname">virtual void diffbifn::dfdx_cond </td> |
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| 113 | <td>(</td> |
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| 114 | <td class="paramtype">const vec & </td> |
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| 115 | <td class="paramname"> <em>x0</em>, </td> |
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| 116 | </tr> |
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| 117 | <tr> |
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| 118 | <td class="paramkey"></td> |
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| 119 | <td></td> |
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| 120 | <td class="paramtype">const vec & </td> |
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| 121 | <td class="paramname"> <em>u0</em>, </td> |
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| 122 | </tr> |
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| 123 | <tr> |
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| 124 | <td class="paramkey"></td> |
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| 125 | <td></td> |
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| 126 | <td class="paramtype">mat & </td> |
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| 127 | <td class="paramname"> <em>A</em>, </td> |
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| 128 | </tr> |
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| 129 | <tr> |
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| 130 | <td class="paramkey"></td> |
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| 131 | <td></td> |
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| 132 | <td class="paramtype">bool </td> |
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| 133 | <td class="paramname"> <em>full</em> = <code>true</code></td><td> </td> |
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| 134 | </tr> |
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| 135 | <tr> |
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| 136 | <td></td> |
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| 137 | <td>)</td> |
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| 138 | <td></td><td></td><td width="100%"><code> [inline, virtual]</code></td> |
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| 139 | </tr> |
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| 140 | </table> |
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| 141 | </div> |
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| 142 | <div class="memdoc"> |
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| 143 | |
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| 144 | <p> |
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| 145 | 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> . |
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| 146 | <p> |
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| 147 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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| 148 | <table border="0" cellspacing="2" cellpadding="0"> |
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| 149 | <tr><td valign="top"></td><td valign="top"><em>full</em> </td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr> |
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| [91] | 150 | <tr><td valign="top"></td><td valign="top"><em>x0</em> </td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr> |
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| 151 | <tr><td valign="top"></td><td valign="top"><em>u0</em> </td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr> |
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| [33] | 152 | <tr><td valign="top"></td><td valign="top"><em>A</em> </td><td>a place where the result will be stored. </td></tr> |
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| [23] | 153 | </table> |
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| 154 | </dl> |
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| 155 | |
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| [33] | 156 | <p>Reimplemented in <a class="el" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5">bilinfn</a>, <a class="el" href="classIMpmsm.html#b4378b5d3bf64c683e4cf5c5f1cd56f1">IMpmsm</a>, and <a class="el" href="classOMpmsm.html#b75b5fd55b2ac5ed74b5b953af122821">OMpmsm</a>.</p> |
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| [23] | 157 | |
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| [91] | 158 | <p>Referenced by <a class="el" href="libKF_8h-source.html#l00364">EKF< sq_T >::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00189">EKFCh::bayes()</a>, <a class="el" href="libKF_8cpp-source.html#l00086">EKFfull::bayes()</a>, <a class="el" href="libKF_8h-source.html#l00347">EKF< sq_T >::set_parameters()</a>, <a class="el" href="libKF_8cpp-source.html#l00167">EKFCh::set_parameters()</a>, and <a class="el" href="libKF_8cpp-source.html#l00066">EKFfull::set_parameters()</a>.</p> |
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| 159 | |
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| [23] | 160 | </div> |
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| 161 | </div><p> |
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| 162 | <a class="anchor" name="1978bafd7909d15c139a08c495c24aa0"></a><!-- doxytag: member="diffbifn::dfdu_cond" ref="1978bafd7909d15c139a08c495c24aa0" args="(const vec &x0, const vec &u0, mat &A, bool full=true)" --> |
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| 163 | <div class="memitem"> |
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| 164 | <div class="memproto"> |
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| 165 | <table class="memname"> |
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| 166 | <tr> |
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| 167 | <td class="memname">virtual void diffbifn::dfdu_cond </td> |
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| 168 | <td>(</td> |
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| 169 | <td class="paramtype">const vec & </td> |
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| 170 | <td class="paramname"> <em>x0</em>, </td> |
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| 171 | </tr> |
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| 172 | <tr> |
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| 173 | <td class="paramkey"></td> |
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| 174 | <td></td> |
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| 175 | <td class="paramtype">const vec & </td> |
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| 176 | <td class="paramname"> <em>u0</em>, </td> |
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| 177 | </tr> |
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| 178 | <tr> |
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| 179 | <td class="paramkey"></td> |
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| 180 | <td></td> |
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| 181 | <td class="paramtype">mat & </td> |
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| 182 | <td class="paramname"> <em>A</em>, </td> |
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| 183 | </tr> |
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| 184 | <tr> |
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| 185 | <td class="paramkey"></td> |
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| 186 | <td></td> |
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| 187 | <td class="paramtype">bool </td> |
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| 188 | <td class="paramname"> <em>full</em> = <code>true</code></td><td> </td> |
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| 189 | </tr> |
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| 190 | <tr> |
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| 191 | <td></td> |
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| 192 | <td>)</td> |
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| 193 | <td></td><td></td><td width="100%"><code> [inline, virtual]</code></td> |
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| 194 | </tr> |
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| 195 | </table> |
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| 196 | </div> |
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| 197 | <div class="memdoc"> |
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| 198 | |
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| 199 | <p> |
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| 200 | 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> . |
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| 201 | <p> |
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| 202 | <dl compact><dt><b>Parameters:</b></dt><dd> |
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| 203 | <table border="0" cellspacing="2" cellpadding="0"> |
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| 204 | <tr><td valign="top"></td><td valign="top"><em>full</em> </td><td>denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. </td></tr> |
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| [91] | 205 | <tr><td valign="top"></td><td valign="top"><em>x0</em> </td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_28.png">, </td></tr> |
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| 206 | <tr><td valign="top"></td><td valign="top"><em>u0</em> </td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_50.png"> </td></tr> |
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| [33] | 207 | <tr><td valign="top"></td><td valign="top"><em>A</em> </td><td>a place where the result will be stored. </td></tr> |
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| [23] | 208 | </table> |
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| 209 | </dl> |
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| 210 | |
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| [33] | 211 | <p>Reimplemented in <a class="el" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b">bilinfn</a>, and <a class="el" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">IMpmsm</a>.</p> |
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| [23] | 212 | |
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| 213 | </div> |
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| 214 | </div><p> |
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| 215 | <hr>The documentation for this class was generated from the following file:<ul> |
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| 216 | <li>work/mixpp/bdm/stat/<a class="el" href="libFN_8h-source.html">libFN.h</a></ul> |
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| [91] | 217 | </div> |
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| 218 | <hr size="1"><address style="text-align: right;"><small>Generated on Tue Apr 29 20:46:39 2008 for mixpp by |
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| [23] | 219 | <a href="http://www.doxygen.org/index.html"> |
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| [91] | 220 | <img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.5 </small></address> |
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| [23] | 221 | </body> |
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| 222 | </html> |
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