root/doc/html/classdiffbifn.html @ 75

Revision 37, 15.3 kB (checked in by smidl, 17 years ago)

Matrix in Cholesky decomposition, Square-root Kalman and many bug fixes

Line 
1<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
2<html><head><meta http-equiv="Content-Type" content="text/html;charset=UTF-8">
3<title>mixpp: diffbifn Class Reference</title>
4<link href="doxygen.css" rel="stylesheet" type="text/css">
5<link href="tabs.css" rel="stylesheet" type="text/css">
6</head><body>
7<!-- Generated by Doxygen 1.5.3 -->
8<div class="tabs">
9  <ul>
10    <li><a href="index.html"><span>Main&nbsp;Page</span></a></li>
11    <li class="current"><a href="annotated.html"><span>Classes</span></a></li>
12    <li><a href="files.html"><span>Files</span></a></li>
13    <li><a href="pages.html"><span>Related&nbsp;Pages</span></a></li>
14  </ul>
15</div>
16<div class="tabs">
17  <ul>
18    <li><a href="annotated.html"><span>Class&nbsp;List</span></a></li>
19    <li><a href="hierarchy.html"><span>Class&nbsp;Hierarchy</span></a></li>
20    <li><a href="functions.html"><span>Class&nbsp;Members</span></a></li>
21  </ul>
22</div>
23<h1>diffbifn Class Reference</h1><!-- doxytag: class="diffbifn" --><!-- doxytag: inherits="fnc" -->Class representing a differentiable function of two variables $f(x,u)$. 
24<a href="#_details">More...</a>
25<p>
26<code>#include &lt;<a class="el" href="libFN_8h-source.html">libFN.h</a>&gt;</code>
27<p>
28<div class="dynheader">
29Inheritance diagram for diffbifn:</div>
30<div class="dynsection">
31<p><center><img src="classdiffbifn__inherit__graph.png" border="0" usemap="#diffbifn__inherit__map" alt="Inheritance graph"></center>
32<map name="diffbifn__inherit__map">
33<area shape="rect" href="classbilinfn.html" title="Class representing function $f(x,u) = Ax+Bu$." alt="" coords="5,161,64,188"><area shape="rect" href="classIMpmsm.html" title="State evolution model for a PMSM drive and its derivative with respect to $x$." alt="" coords="88,161,165,188"><area shape="rect" href="classOMpmsm.html" title="Observation model for PMSM drive and its derivative with respect to $x$." alt="" coords="189,161,275,188"><area shape="rect" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv." alt="" coords="107,7,147,33"></map>
34<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
35<div class="dynheader">
36Collaboration diagram for diffbifn:</div>
37<div class="dynsection">
38<p><center><img src="classdiffbifn__coll__graph.png" border="0" usemap="#diffbifn__coll__map" alt="Collaboration graph"></center>
39<map name="diffbifn__coll__map">
40<area shape="rect" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv." alt="" coords="5,7,45,33"><area shape="rect" href="classRV.html" title="Class representing variables, most often random variables." alt="" coords="69,7,107,33"><area shape="rect" title="rvu\nrvx" alt="" coords="80,31,88,39"><area shape="rect" title="rvu\nrvx" alt="" coords="56,115,64,123"></map>
41<center><font size="2">[<a href="graph_legend.html">legend</a>]</font></center></div>
42
43<p>
44<a href="classdiffbifn-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
45<tr><td></td></tr>
46<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
47<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="ad7673e16aa1a046b131b24c731c4632"></a><!-- doxytag: member="diffbifn::eval" ref="ad7673e16aa1a046b131b24c731c4632" args="(const vec &amp;cond)" -->
48vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632">eval</a> (const vec &amp;cond)</td></tr>
49
50<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). <br></td></tr>
51<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="40d8a7eee45acc55cda33d43282faa03"></a><!-- doxytag: member="diffbifn::eval" ref="40d8a7eee45acc55cda33d43282faa03" args="(const vec &amp;x0, const vec &amp;u0)" -->
52virtual vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#40d8a7eee45acc55cda33d43282faa03">eval</a> (const vec &amp;x0, const vec &amp;u0)</td></tr>
53
54<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates $f(x0,u0)$. <br></td></tr>
55<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4">dfdx_cond</a> (const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</td></tr>
56
57<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="#6d217a02d4fa13931258d4bebdd0feb4"></a><br></td></tr>
58<tr><td class="memItemLeft" nowrap align="right" valign="top">virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0">dfdu_cond</a> (const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)</td></tr>
59
60<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="#1978bafd7909d15c139a08c495c24aa0"></a><br></td></tr>
61<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0b33e1bfa23be5ed234d172eb4c0e4b5"></a><!-- doxytag: member="diffbifn::diffbifn" ref="0b33e1bfa23be5ed234d172eb4c0e4b5" args="(const RV rvx0, const RV rvu0)" -->
62&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#0b33e1bfa23be5ed234d172eb4c0e4b5">diffbifn</a> (const <a class="el" href="classRV.html">RV</a> rvx0, const <a class="el" href="classRV.html">RV</a> rvu0)</td></tr>
63
64<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor (dimy is not set!). <br></td></tr>
65<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="436de7a7301ea9eac7d6081b893bbf57"></a><!-- doxytag: member="diffbifn::_dimx" ref="436de7a7301ea9eac7d6081b893bbf57" args="() const " -->
66int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57">_dimx</a> () const </td></tr>
67
68<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
69<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="fc8779acbff170611aff0ee70cee3879"></a><!-- doxytag: member="diffbifn::_dimu" ref="fc8779acbff170611aff0ee70cee3879" args="() const " -->
70int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879">_dimu</a> () const </td></tr>
71
72<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
73<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8891973d0ca48ce38e1886df45ca298"></a><!-- doxytag: member="diffbifn::_dimy" ref="a8891973d0ca48ce38e1886df45ca298" args="() const " -->
74int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfnc.html#a8891973d0ca48ce38e1886df45ca298">_dimy</a> () const </td></tr>
75
76<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
77<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
78<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="bcf96b86250c3cbd465ba5ee62474b75"></a><!-- doxytag: member="diffbifn::rvx" ref="bcf96b86250c3cbd465ba5ee62474b75" args="" -->
79<a class="el" href="classRV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75">rvx</a></td></tr>
80
81<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the first rv. <br></td></tr>
82<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="c41c74c7942dba51ef0b0bfed963447d"></a><!-- doxytag: member="diffbifn::rvu" ref="c41c74c7942dba51ef0b0bfed963447d" args="" -->
83<a class="el" href="classRV.html">RV</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d">rvu</a></td></tr>
84
85<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the second rv. <br></td></tr>
86<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="f6918bc0a9dad656b4cddc028137eb78"></a><!-- doxytag: member="diffbifn::dimx" ref="f6918bc0a9dad656b4cddc028137eb78" args="" -->
87int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78">dimx</a></td></tr>
88
89<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvx.count() <br></td></tr>
90<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="2e07ce491e973f03d763e37624d0fe79"></a><!-- doxytag: member="diffbifn::dimu" ref="2e07ce491e973f03d763e37624d0fe79" args="" -->
91int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79">dimu</a></td></tr>
92
93<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvu.count() <br></td></tr>
94<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="22d51d10a7901331167f64f80d1af8e9"></a><!-- doxytag: member="diffbifn::dimy" ref="22d51d10a7901331167f64f80d1af8e9" args="" -->
95int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classfnc.html#22d51d10a7901331167f64f80d1af8e9">dimy</a></td></tr>
96
97<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Length of the output vector. <br></td></tr>
98</table>
99<hr><a name="_details"></a><h2>Detailed Description</h2>
100Class representing a differentiable function of two variables $f(x,u)$.
101<p>
102Function of two variables.<p>
103TODO: 1) Technically, it could have a common parent (e.g. <code><a class="el" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ 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 $f(x)$ of variable $x$ represented by rv.">fnc</a></code> ). <hr><h2>Member Function Documentation</h2>
104<a class="anchor" name="6d217a02d4fa13931258d4bebdd0feb4"></a><!-- doxytag: member="diffbifn::dfdx_cond" ref="6d217a02d4fa13931258d4bebdd0feb4" args="(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)" -->
105<div class="memitem">
106<div class="memproto">
107      <table class="memname">
108        <tr>
109          <td class="memname">virtual void diffbifn::dfdx_cond           </td>
110          <td>(</td>
111          <td class="paramtype">const vec &amp;&nbsp;</td>
112          <td class="paramname"> <em>x0</em>, </td>
113        </tr>
114        <tr>
115          <td class="paramkey"></td>
116          <td></td>
117          <td class="paramtype">const vec &amp;&nbsp;</td>
118          <td class="paramname"> <em>u0</em>, </td>
119        </tr>
120        <tr>
121          <td class="paramkey"></td>
122          <td></td>
123          <td class="paramtype">mat &amp;&nbsp;</td>
124          <td class="paramname"> <em>A</em>, </td>
125        </tr>
126        <tr>
127          <td class="paramkey"></td>
128          <td></td>
129          <td class="paramtype">bool&nbsp;</td>
130          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
131        </tr>
132        <tr>
133          <td></td>
134          <td>)</td>
135          <td></td><td></td><td width="100%"><code> [inline, virtual]</code></td>
136        </tr>
137      </table>
138</div>
139<div class="memdoc">
140
141<p>
142Evaluates <img class="formulaInl" alt="$A=\frac{d}{dx}f(x,u)|_{x0,u0}$" src="form_1.png"> and writes result into <code>A</code> .
143<p>
144<dl compact><dt><b>Parameters:</b></dt><dd>
145  <table border="0" cellspacing="2" cellpadding="0">
146    <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>
147    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of $x$, </td></tr>
148    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of $u$ </td></tr>
149    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
150  </table>
151</dl>
152
153<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>
154
155</div>
156</div><p>
157<a class="anchor" name="1978bafd7909d15c139a08c495c24aa0"></a><!-- doxytag: member="diffbifn::dfdu_cond" ref="1978bafd7909d15c139a08c495c24aa0" args="(const vec &amp;x0, const vec &amp;u0, mat &amp;A, bool full=true)" -->
158<div class="memitem">
159<div class="memproto">
160      <table class="memname">
161        <tr>
162          <td class="memname">virtual void diffbifn::dfdu_cond           </td>
163          <td>(</td>
164          <td class="paramtype">const vec &amp;&nbsp;</td>
165          <td class="paramname"> <em>x0</em>, </td>
166        </tr>
167        <tr>
168          <td class="paramkey"></td>
169          <td></td>
170          <td class="paramtype">const vec &amp;&nbsp;</td>
171          <td class="paramname"> <em>u0</em>, </td>
172        </tr>
173        <tr>
174          <td class="paramkey"></td>
175          <td></td>
176          <td class="paramtype">mat &amp;&nbsp;</td>
177          <td class="paramname"> <em>A</em>, </td>
178        </tr>
179        <tr>
180          <td class="paramkey"></td>
181          <td></td>
182          <td class="paramtype">bool&nbsp;</td>
183          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
184        </tr>
185        <tr>
186          <td></td>
187          <td>)</td>
188          <td></td><td></td><td width="100%"><code> [inline, virtual]</code></td>
189        </tr>
190      </table>
191</div>
192<div class="memdoc">
193
194<p>
195Evaluates <img class="formulaInl" alt="$A=\frac{d}{du}f(x,u)|_{x0,u0}$" src="form_2.png"> and writes result into <code>A</code> .
196<p>
197<dl compact><dt><b>Parameters:</b></dt><dd>
198  <table border="0" cellspacing="2" cellpadding="0">
199    <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>
200    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of $x$, </td></tr>
201    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of $u$ </td></tr>
202    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
203  </table>
204</dl>
205
206<p>Reimplemented in <a class="el" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b">bilinfn</a>, and <a class="el" href="classIMpmsm.html#c3f8dad22ae9855c04a1d593b45c99b5">IMpmsm</a>.</p>
207
208</div>
209</div><p>
210<hr>The documentation for this class was generated from the following file:<ul>
211<li>work/mixpp/bdm/stat/<a class="el" href="libFN_8h-source.html">libFN.h</a></ul>
212<hr size="1"><address style="text-align: right;"><small>Generated on Wed Mar 12 16:15:49 2008 for mixpp by&nbsp;
213<a href="http://www.doxygen.org/index.html">
214<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.3 </small></address>
215</body>
216</html>
Note: See TracBrowser for help on using the browser.