diffbifn fnc bilinfn IMpmsm OMpmsm libFN.h RV RV diffbifn::rvx rvx Indentifier of the first rv. diffbifn RV RV diffbifn::rvu rvu Indentifier of the second rv. diffbifn int int diffbifn::dimx dimx cache for rvx.count() _dimx bilinfn::bilinfn diffbifn eval bilinfn::eval int int diffbifn::dimu dimu cache for rvu.count() _dimu bilinfn::bilinfn diffbifn eval bilinfn::eval int int fnc::dimy dimy Length of the output vector. fnc::_dimy bilinfn::bilinfn eval vec vec diffbifn::eval (const vec &cond) eval eval const vec & cond Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). dimu dimx EKF< sq_T >::bayes EKFCh::bayes EKFfull::bayes vec virtual vec diffbifn::eval (const vec &x0, const vec &u0) eval eval eval eval eval const vec & x0 const vec & u0 Evaluates $f(x0,u0)$. fnc::dimy void virtual void diffbifn::dfdx_cond (const vec &x0, const vec &u0, mat &A, bool full=true) dfdx_cond dfdx_cond dfdx_cond dfdx_cond dfdx_cond const vec & x0 const vec & u0 mat & A bool full true Evaluates $A=\frac{d}{dx}f(x,u)|_{x0,u0}$ and writes result into A . full denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. x0 numeric value of $x$, u0 numeric value of $u$ A a place where the result will be stored. EKF< sq_T >::bayes EKFCh::bayes EKFfull::bayes EKF< sq_T >::set_parameters EKFCh::set_parameters EKFfull::set_parameters void virtual void diffbifn::dfdu_cond (const vec &x0, const vec &u0, mat &A, bool full=true) dfdu_cond dfdu_cond dfdu_cond dfdu_cond const vec & x0 const vec & u0 mat & A bool full true Evaluates $A=\frac{d}{du}f(x,u)|_{x0,u0}$ and writes result into A . full denotes that even unchanged entries are to be rewritten. When, false only the changed elements are computed. x0 numeric value of $x$, u0 numeric value of $u$ A a place where the result will be stored. diffbifn::diffbifn (int dimy, const RV rvx0, const RV rvu0) diffbifn int dimy const RV rvx0 const RV rvu0 Default constructor (dimy is not set!). RV::count dimu dimx rvu rvx int int diffbifn::_dimx () const _dimx access function dimx int int diffbifn::_dimu () const _dimu access function dimu EKFfull::set_parameters int int fnc::_dimy () const _dimy access function fnc::dimy EKFfull::set_parameters Class representing a differentiable function of two variables $f(x,u)$. Function of two variables.TODO: 1) Technically, it could have a common parent (e.g. 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 fnc ). OMpmsm bilinfn IMpmsmStat diffbifn fnc IMpmsm RV diffbifn rvu rvx fnc diffbifn_dimu diffbifn_dimx diffbifn_dimy diffbifndfdu_cond diffbifndfdx_cond diffbifndiffbifn diffbifndimu diffbifndimx diffbifndimy diffbifneval diffbifneval diffbifnfnc diffbifnrvu diffbifnrvx diffbifn~fnc