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67  <div class="navpath"><b>bdm</b>::<a class="el" href="classbdm_1_1diffbifn.html">diffbifn</a>
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71<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_42.png">. 
72<a href="#_details">More...</a>
73<p>
74<code>#include &lt;<a class="el" href="functions_8h-source.html">functions.h</a>&gt;</code>
75<p>
76
77<p>
78<a href="classbdm_1_1diffbifn-members.html">List of all members.</a><table border="0" cellpadding="0" cellspacing="0">
79<tr><td></td></tr>
80<tr><td colspan="2"><br><h2>Public Member Functions</h2></td></tr>
81<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)" -->
82vec&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3">eval</a> (const vec &amp;cond)</td></tr>
83
84<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_44.png"> (VS: Do we really need common eval? ). <br></td></tr>
85<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)" -->
86virtual 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>
87
88<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Evaluates <img class="formulaInl" alt="$f(x0,u0)$" src="form_44.png">. <br></td></tr>
89<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>
90
91<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_45.png"> and writes result into <code>A</code> .  <a href="#651184f808a35f236dbfea21aca1b6ac"></a><br></td></tr>
92<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>
93
94<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_47.png"> and writes result into <code>A</code> .  <a href="#6ea1dc7a482601b29c5ba36a52d20d07"></a><br></td></tr>
95<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="92ff29d748e445b440453a38d0b09681"></a><!-- doxytag: member="bdm::diffbifn::diffbifn" ref="92ff29d748e445b440453a38d0b09681" args="()" -->
96&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681">diffbifn</a> ()</td></tr>
97
98<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Default constructor (dimy is not set!). <br></td></tr>
99<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1b3c8f5949f13d86d2661e191d4b369b"></a><!-- doxytag: member="bdm::diffbifn::_dimx" ref="1b3c8f5949f13d86d2661e191d4b369b" args="() const " -->
100int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b">_dimx</a> () const </td></tr>
101
102<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
103<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="031458f38c97cdb3aecde16f6a06dced"></a><!-- doxytag: member="bdm::diffbifn::_dimu" ref="031458f38c97cdb3aecde16f6a06dced" args="() const " -->
104int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced">_dimu</a> () const </td></tr>
105
106<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
107<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)" -->
108virtual 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>
109
110<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">function substitutes given value into an appropriate position <br></td></tr>
111<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="083832294da9d1e40804158b979c4341"></a><!-- doxytag: member="bdm::diffbifn::dimension" ref="083832294da9d1e40804158b979c4341" args="() const " -->
112int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#083832294da9d1e40804158b979c4341">dimension</a> () const </td></tr>
113
114<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">access function <br></td></tr>
115<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="af0e6941ba5919cae1bc530e2181b109"></a><!-- doxytag: member="bdm::diffbifn::to_string" ref="af0e6941ba5919cae1bc530e2181b109" args="()" -->
116virtual string&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#af0e6941ba5919cae1bc530e2181b109">to_string</a> ()</td></tr>
117
118<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method returns a basic info about the current instance. <br></td></tr>
119<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="0551e3121091c5199bf4413b50522176"></a><!-- doxytag: member="bdm::diffbifn::from_setting" ref="0551e3121091c5199bf4413b50522176" args="(const Setting &amp;set)" -->
120virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#0551e3121091c5199bf4413b50522176">from_setting</a> (const Setting &amp;set)</td></tr>
121
122<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method arrange instance properties according the data stored in the Setting structure. <br></td></tr>
123<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="67d954d255ede776eade7334d4895790"></a><!-- doxytag: member="bdm::diffbifn::to_setting" ref="67d954d255ede776eade7334d4895790" args="(Setting &amp;set) const " -->
124virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#67d954d255ede776eade7334d4895790">to_setting</a> (Setting &amp;set) const </td></tr>
125
126<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method save all the instance properties into the Setting structure. <br></td></tr>
127<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1c314bd6d6dacb8ba78ea5eb88fd9516"></a><!-- doxytag: member="bdm::diffbifn::validate" ref="1c314bd6d6dacb8ba78ea5eb88fd9516" args="()" -->
128virtual void&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1root.html#1c314bd6d6dacb8ba78ea5eb88fd9516">validate</a> ()</td></tr>
129
130<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">This method TODO. <br></td></tr>
131<tr><td colspan="2"><br><h2>Protected Attributes</h2></td></tr>
132<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="5f56547d8e9378b669d3cc19d7831cbb"></a><!-- doxytag: member="bdm::diffbifn::rvx" ref="5f56547d8e9378b669d3cc19d7831cbb" args="" -->
133<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>
134
135<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the first rv. <br></td></tr>
136<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a8e3e861d5ec2a7ae9524e6338e58320"></a><!-- doxytag: member="bdm::diffbifn::rvu" ref="a8e3e861d5ec2a7ae9524e6338e58320" args="" -->
137<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>
138
139<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Indentifier of the second rv. <br></td></tr>
140<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="a193aa2c4a500139c0c4b669691e588e"></a><!-- doxytag: member="bdm::diffbifn::dimx" ref="a193aa2c4a500139c0c4b669691e588e" args="" -->
141int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e">dimx</a></td></tr>
142
143<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvx.count() <br></td></tr>
144<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="30c45617eec89adeb4ebaa763d093fb0"></a><!-- doxytag: member="bdm::diffbifn::dimu" ref="30c45617eec89adeb4ebaa763d093fb0" args="" -->
145int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0">dimu</a></td></tr>
146
147<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">cache for rvu.count() <br></td></tr>
148<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="52156cb4a52a62d51fc7455985797a62"></a><!-- doxytag: member="bdm::diffbifn::dimy" ref="52156cb4a52a62d51fc7455985797a62" args="" -->
149int&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62">dimy</a></td></tr>
150
151<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">Length of the output vector. <br></td></tr>
152</table>
153<hr><a name="_details"></a><h2>Detailed Description</h2>
154Class representing a differentiable function of two variables <img class="formulaInl" alt="$f(x,u)$" src="form_42.png">.
155<p>
156Function of two variables.<p>
157TODO: 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>
158<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)" -->
159<div class="memitem">
160<div class="memproto">
161      <table class="memname">
162        <tr>
163          <td class="memname">virtual void bdm::diffbifn::dfdu_cond           </td>
164          <td>(</td>
165          <td class="paramtype">const vec &amp;&nbsp;</td>
166          <td class="paramname"> <em>x0</em>, </td>
167        </tr>
168        <tr>
169          <td class="paramkey"></td>
170          <td></td>
171          <td class="paramtype">const vec &amp;&nbsp;</td>
172          <td class="paramname"> <em>u0</em>, </td>
173        </tr>
174        <tr>
175          <td class="paramkey"></td>
176          <td></td>
177          <td class="paramtype">mat &amp;&nbsp;</td>
178          <td class="paramname"> <em>A</em>, </td>
179        </tr>
180        <tr>
181          <td class="paramkey"></td>
182          <td></td>
183          <td class="paramtype">bool&nbsp;</td>
184          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
185        </tr>
186        <tr>
187          <td></td>
188          <td>)</td>
189          <td></td><td></td><td><code> [inline, virtual]</code></td>
190        </tr>
191      </table>
192</div>
193<div class="memdoc">
194
195<p>
196Evaluates <img class="formulaInl" alt="$A=\frac{d}{du}f(x,u)|_{x0,u0}$" src="form_47.png"> and writes result into <code>A</code> .
197<p>
198<dl compact><dt><b>Parameters:</b></dt><dd>
199  <table border="0" cellspacing="2" cellpadding="0">
200    <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>
201    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_1.png">, </td></tr>
202    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_46.png"> </td></tr>
203    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
204  </table>
205</dl>
206
207<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#9cfe2f1c115ba7c3c75849a10a4f2c08">bdm::bilinfn</a>.</p>
208
209</div>
210</div><p>
211<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)" -->
212<div class="memitem">
213<div class="memproto">
214      <table class="memname">
215        <tr>
216          <td class="memname">virtual void bdm::diffbifn::dfdx_cond           </td>
217          <td>(</td>
218          <td class="paramtype">const vec &amp;&nbsp;</td>
219          <td class="paramname"> <em>x0</em>, </td>
220        </tr>
221        <tr>
222          <td class="paramkey"></td>
223          <td></td>
224          <td class="paramtype">const vec &amp;&nbsp;</td>
225          <td class="paramname"> <em>u0</em>, </td>
226        </tr>
227        <tr>
228          <td class="paramkey"></td>
229          <td></td>
230          <td class="paramtype">mat &amp;&nbsp;</td>
231          <td class="paramname"> <em>A</em>, </td>
232        </tr>
233        <tr>
234          <td class="paramkey"></td>
235          <td></td>
236          <td class="paramtype">bool&nbsp;</td>
237          <td class="paramname"> <em>full</em> = <code>true</code></td><td>&nbsp;</td>
238        </tr>
239        <tr>
240          <td></td>
241          <td>)</td>
242          <td></td><td></td><td><code> [inline, virtual]</code></td>
243        </tr>
244      </table>
245</div>
246<div class="memdoc">
247
248<p>
249Evaluates <img class="formulaInl" alt="$A=\frac{d}{dx}f(x,u)|_{x0,u0}$" src="form_45.png"> and writes result into <code>A</code> .
250<p>
251<dl compact><dt><b>Parameters:</b></dt><dd>
252  <table border="0" cellspacing="2" cellpadding="0">
253    <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>
254    <tr><td valign="top"></td><td valign="top"><em>x0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$x$" src="form_1.png">, </td></tr>
255    <tr><td valign="top"></td><td valign="top"><em>u0</em>&nbsp;</td><td>numeric value of <img class="formulaInl" alt="$u$" src="form_46.png"> </td></tr>
256    <tr><td valign="top"></td><td valign="top"><em>A</em>&nbsp;</td><td>a place where the result will be stored. </td></tr>
257  </table>
258</dl>
259
260<p>Reimplemented in <a class="el" href="classbdm_1_1bilinfn.html#33066f1054dd259df2ec5fafae4b46e6">bdm::bilinfn</a>.</p>
261
262<p>Referenced by <a class="el" href="kalman_8h-source.html#l00493">bdm::EKF&lt; sq_T &gt;::bayes()</a>, <a class="el" href="kalman_8cpp-source.html#l00199">bdm::EKFCh::bayes()</a>, <a class="el" href="kalman_8cpp-source.html#l00087">bdm::EKFfull::bayes()</a>, <a class="el" href="kalman_8h-source.html#l00475">bdm::EKF&lt; sq_T &gt;::set_parameters()</a>, <a class="el" href="kalman_8cpp-source.html#l00168">bdm::EKFCh::set_parameters()</a>, and <a class="el" href="kalman_8cpp-source.html#l00066">bdm::EKFfull::set_parameters()</a>.</p>
263
264</div>
265</div><p>
266<hr>The documentation for this class was generated from the following file:<ul>
267<li><a class="el" href="functions_8h-source.html">functions.h</a></ul>
268</div>
269<hr size="1"><address style="text-align: right;"><small>Generated on Wed Jul 1 13:05:57 2009 for mixpp by&nbsp;
270<a href="http://www.doxygen.org/index.html">
271<img src="doxygen.png" alt="doxygen" align="middle" border="0"></a> 1.5.8 </small></address>
272</body>
273</html>
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