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1\hypertarget{classdiffbifn}{
2\section{diffbifn Class Reference}
3\label{classdiffbifn}\index{diffbifn@{diffbifn}}
4}
5Class representing a differentiable function of two variables $f(x,u)$. 
6
7
8{\tt \#include $<$libFN.h$>$}
9
10Inheritance diagram for diffbifn:\nopagebreak
11\begin{figure}[H]
12\begin{center}
13\leavevmode
14\includegraphics[width=400pt]{classdiffbifn__inherit__graph}
15\end{center}
16\end{figure}
17Collaboration diagram for diffbifn:\nopagebreak
18\begin{figure}[H]
19\begin{center}
20\leavevmode
21\includegraphics[width=60pt]{classdiffbifn__coll__graph}
22\end{center}
23\end{figure}
24\subsection*{Public Member Functions}
25\begin{CompactItemize}
26\item 
27\hypertarget{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}{
28vec \hyperlink{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}{eval} (const vec \&cond)}
29\label{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}
30
31\begin{CompactList}\small\item\em Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). \item\end{CompactList}\item 
32\hypertarget{classdiffbifn_40d8a7eee45acc55cda33d43282faa03}{
33virtual vec \hyperlink{classdiffbifn_40d8a7eee45acc55cda33d43282faa03}{eval} (const vec \&x0, const vec \&u0)}
34\label{classdiffbifn_40d8a7eee45acc55cda33d43282faa03}
35
36\begin{CompactList}\small\item\em Evaluates $f(x0,u0)$. \item\end{CompactList}\item 
37virtual void \hyperlink{classdiffbifn_6d217a02d4fa13931258d4bebdd0feb4}{dfdx\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
38\begin{CompactList}\small\item\em Evaluates $A=\frac{d}{dx}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . \item\end{CompactList}\item 
39virtual void \hyperlink{classdiffbifn_1978bafd7909d15c139a08c495c24aa0}{dfdu\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
40\begin{CompactList}\small\item\em Evaluates $A=\frac{d}{du}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . \item\end{CompactList}\item 
41\hypertarget{classdiffbifn_797772c0d5aab8ddccec19dfe4bb2d77}{
42\hyperlink{classdiffbifn_797772c0d5aab8ddccec19dfe4bb2d77}{diffbifn} (int \hyperlink{classfnc_22d51d10a7901331167f64f80d1af8e9}{dimy}, const \hyperlink{classRV}{RV} rvx0, const \hyperlink{classRV}{RV} rvu0)}
43\label{classdiffbifn_797772c0d5aab8ddccec19dfe4bb2d77}
44
45\begin{CompactList}\small\item\em Default constructor (dimy is not set!). \item\end{CompactList}\item 
46\hypertarget{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}{
47int \hyperlink{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}{\_\-dimx} () const }
48\label{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}
49
50\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
51\hypertarget{classdiffbifn_fc8779acbff170611aff0ee70cee3879}{
52int \hyperlink{classdiffbifn_fc8779acbff170611aff0ee70cee3879}{\_\-dimu} () const }
53\label{classdiffbifn_fc8779acbff170611aff0ee70cee3879}
54
55\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
56\hypertarget{classfnc_d28babf615a7240c34ee57779250f602}{
57virtual void \hyperlink{classfnc_d28babf615a7240c34ee57779250f602}{condition} (const vec \&val)}
58\label{classfnc_d28babf615a7240c34ee57779250f602}
59
60\begin{CompactList}\small\item\em function substitutes given value into an appropriate position \item\end{CompactList}\item 
61\hypertarget{classfnc_a8891973d0ca48ce38e1886df45ca298}{
62int \hyperlink{classfnc_a8891973d0ca48ce38e1886df45ca298}{\_\-dimy} () const }
63\label{classfnc_a8891973d0ca48ce38e1886df45ca298}
64
65\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
66\subsection*{Protected Attributes}
67\begin{CompactItemize}
68\item 
69\hypertarget{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}{
70\hyperlink{classRV}{RV} \hyperlink{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}{rvx}}
71\label{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}
72
73\begin{CompactList}\small\item\em Indentifier of the first rv. \item\end{CompactList}\item 
74\hypertarget{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}{
75\hyperlink{classRV}{RV} \hyperlink{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}{rvu}}
76\label{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}
77
78\begin{CompactList}\small\item\em Indentifier of the second rv. \item\end{CompactList}\item 
79\hypertarget{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}{
80int \hyperlink{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}{dimx}}
81\label{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}
82
83\begin{CompactList}\small\item\em cache for rvx.count() \item\end{CompactList}\item 
84\hypertarget{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}{
85int \hyperlink{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}{dimu}}
86\label{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}
87
88\begin{CompactList}\small\item\em cache for rvu.count() \item\end{CompactList}\item 
89\hypertarget{classfnc_22d51d10a7901331167f64f80d1af8e9}{
90int \hyperlink{classfnc_22d51d10a7901331167f64f80d1af8e9}{dimy}}
91\label{classfnc_22d51d10a7901331167f64f80d1af8e9}
92
93\begin{CompactList}\small\item\em Length of the output vector. \item\end{CompactList}\end{CompactItemize}
94
95
96\subsection{Detailed Description}
97Class representing a differentiable function of two variables $f(x,u)$.
98
99Function of two variables.
100
101TODO: 1) Technically, it could have a common parent (e.g. {\tt \hyperlink{classfnc}{fnc}} ) with other functions. For now, we keep it as it is. 2) It could be generalized into multivariate form, (which was original meaning of {\tt \hyperlink{classfnc}{fnc}} ).
102
103\subsection{Member Function Documentation}
104\hypertarget{classdiffbifn_6d217a02d4fa13931258d4bebdd0feb4}{
105\index{diffbifn@{diffbifn}!dfdx\_\-cond@{dfdx\_\-cond}}
106\index{dfdx\_\-cond@{dfdx\_\-cond}!diffbifn@{diffbifn}}
107\subsubsection[dfdx\_\-cond]{\setlength{\rightskip}{0pt plus 5cm}virtual void diffbifn::dfdx\_\-cond (const vec \& {\em x0}, \/  const vec \& {\em u0}, \/  mat \& {\em A}, \/  bool {\em full} = {\tt true})\hspace{0.3cm}{\tt  \mbox{[}inline, virtual\mbox{]}}}}
108\label{classdiffbifn_6d217a02d4fa13931258d4bebdd0feb4}
109
110
111Evaluates $A=\frac{d}{dx}f(x,u)|_{x0,u0}$ and writes result into {\tt A} .
112
113\begin{Desc}
114\item[Parameters:]
115\begin{description}
116\item[{\em full}]denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. \item[{\em x0}]numeric value of $x$, \item[{\em u0}]numeric value of $u$ \item[{\em A}]a place where the result will be stored. \end{description}
117\end{Desc}
118
119
120Reimplemented in \hyperlink{classbilinfn_79c022de8dbe2b054bb9cc49345f3ef5}{bilinfn}, \hyperlink{classIMk1_463177c0fdffdf4951761959160cc682}{IMk1}, \hyperlink{classOMk1_3a6ff61c818d25f95912351aac201cc7}{OMk1}, \hyperlink{classIMpmsm_b4378b5d3bf64c683e4cf5c5f1cd56f1}{IMpmsm}, \hyperlink{classIMpmsm2o_0a3e125df1e53821e08accbd4960d713}{IMpmsm2o}, and \hyperlink{classOMpmsm_b75b5fd55b2ac5ed74b5b953af122821}{OMpmsm}.
121
122Referenced by EKF$<$ sq\_\-T $>$::bayes(), EKFCh::bayes(), EKFfull::bayes(), EKF$<$ sq\_\-T $>$::set\_\-parameters(), EKFCh::set\_\-parameters(), and EKFfull::set\_\-parameters().\hypertarget{classdiffbifn_1978bafd7909d15c139a08c495c24aa0}{
123\index{diffbifn@{diffbifn}!dfdu\_\-cond@{dfdu\_\-cond}}
124\index{dfdu\_\-cond@{dfdu\_\-cond}!diffbifn@{diffbifn}}
125\subsubsection[dfdu\_\-cond]{\setlength{\rightskip}{0pt plus 5cm}virtual void diffbifn::dfdu\_\-cond (const vec \& {\em x0}, \/  const vec \& {\em u0}, \/  mat \& {\em A}, \/  bool {\em full} = {\tt true})\hspace{0.3cm}{\tt  \mbox{[}inline, virtual\mbox{]}}}}
126\label{classdiffbifn_1978bafd7909d15c139a08c495c24aa0}
127
128
129Evaluates $A=\frac{d}{du}f(x,u)|_{x0,u0}$ and writes result into {\tt A} .
130
131\begin{Desc}
132\item[Parameters:]
133\begin{description}
134\item[{\em full}]denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. \item[{\em x0}]numeric value of $x$, \item[{\em u0}]numeric value of $u$ \item[{\em A}]a place where the result will be stored. \end{description}
135\end{Desc}
136
137
138Reimplemented in \hyperlink{classbilinfn_90f2b15612b14883d6ed2b0e295cb82b}{bilinfn}, \hyperlink{classIMk1_2b85f0984da3fe55849bb7b28f66e50c}{IMk1}, \hyperlink{classIMpmsm_c3f8dad22ae9855c04a1d593b45c99b5}{IMpmsm}, and \hyperlink{classIMpmsm2o_27f9d89bce832056f747d985df77a726}{IMpmsm2o}.
139
140The documentation for this class was generated from the following file:\begin{CompactItemize}
141\item 
142work/git/mixpp/bdm/stat/libFN.h\end{CompactItemize}
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