| 27 | | <a name="l00012"></a>00012 <span class="preprocessor">#include <itpp/itbase.h></span> |
| 28 | | <a name="l00013"></a>00013 <span class="preprocessor">#include "<a class="code" href="libBM_8h.html" title="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</a>"</span> |
| 29 | | <a name="l00014"></a>00014 |
| 30 | | <a name="l00015"></a>00015 <span class="keyword">using namespace </span>itpp; |
| 31 | | <a name="l00016"></a>00016 |
| 32 | | <a name="l00018"></a><a class="code" href="classconstfn.html">00018</a> <span class="keyword">class </span><a class="code" href="classconstfn.html" title="class representing function $f(x) = a$, here rv is empty">constfn</a> : <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| 33 | | <a name="l00019"></a>00019 { |
| 34 | | <a name="l00020"></a>00020 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rv; |
| 35 | | <a name="l00021"></a>00021 vec val; |
| 36 | | <a name="l00022"></a>00022 |
| 37 | | <a name="l00023"></a>00023 |
| 38 | | <a name="l00024"></a>00024 <span class="keyword">public</span>: |
| 39 | | <a name="l00025"></a>00025 vec eval() {<span class="keywordflow">return</span> val;}; |
| 40 | | <a name="l00026"></a>00026 vec eval ( vec &cond ) {<span class="keywordflow">return</span> val;}; |
| 41 | | <a name="l00028"></a><a class="code" href="classconstfn.html#d08acd7fac0ef3edfa59bbe48403f2bc">00028</a> <a class="code" href="classconstfn.html#d08acd7fac0ef3edfa59bbe48403f2bc" title="Default constructor.">constfn</a> ( <span class="keyword">const</span> vec &val0 ) :rv(),val ( val0 ) {}; |
| 42 | | <a name="l00029"></a>00029 }; |
| 43 | | <a name="l00030"></a>00030 |
| 44 | | <a name="l00032"></a><a class="code" href="classlinfn.html">00032</a> <span class="keyword">class </span><a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a>: <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| 45 | | <a name="l00033"></a>00033 { |
| 46 | | <a name="l00034"></a>00034 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rv; |
| 47 | | <a name="l00035"></a>00035 ivec indexlist; <span class="comment">// needed by evalsome</span> |
| 48 | | <a name="l00036"></a>00036 mat A; |
| 49 | | <a name="l00037"></a>00037 vec B; |
| 50 | | <a name="l00038"></a>00038 <span class="keyword">public</span> : |
| 51 | | <a name="l00039"></a>00039 vec eval ( vec &cond ) {it_assert_debug ( cond.length() ==rv.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>(), <span class="stringliteral">"linfn::eval Wrong cond."</span> );<span class="keywordflow">return</span> A*cond+B;}; |
| 52 | | <a name="l00040"></a>00040 |
| 53 | | <a name="l00041"></a>00041 <a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a> evalsome ( ivec &rvind ); |
| 54 | | <a name="l00042"></a>00042 <a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rv0 ) :rv ( rv0 ),A ( eye ( rv0.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>() ) ),B ( zeros ( rv0.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>() ) ) { indexlist=rv.<a class="code" href="classRV.html#8470cf53be6e7bdba78ad0efbd203ee7" title="generate a list of indeces, i.e. which">indexlist</a>();}; |
| 55 | | <a name="l00043"></a>00043 <a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rv0, <span class="keyword">const</span> mat &A0 ) : rv ( rv0 ), A ( A0 ), B ( zeros ( rv0.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>() ) ) { indexlist=rv.<a class="code" href="classRV.html#8470cf53be6e7bdba78ad0efbd203ee7" title="generate a list of indeces, i.e. which">indexlist</a>();}; |
| 56 | | <a name="l00044"></a>00044 <a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rv0, <span class="keyword">const</span> mat &A0, <span class="keyword">const</span> vec &B0 ) :rv ( rv0 ), A ( A0 ), B ( B0 ) { indexlist=rv.<a class="code" href="classRV.html#8470cf53be6e7bdba78ad0efbd203ee7" title="generate a list of indeces, i.e. which">indexlist</a>();}; |
| 57 | | <a name="l00045"></a>00045 }; |
| 58 | | <a name="l00046"></a>00046 |
| 59 | | <a name="l00047"></a>00047 |
| 60 | | <a name="l00057"></a><a class="code" href="classdiffbifn.html">00057</a> <span class="keyword">class </span><a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a>: <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| 61 | | <a name="l00058"></a>00058 { |
| 62 | | <a name="l00059"></a>00059 <span class="keyword">protected</span>: |
| 63 | | <a name="l00060"></a>00060 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rvx,rvu; |
| 64 | | <a name="l00061"></a>00061 <span class="keywordtype">int</span> dimx; |
| 65 | | <a name="l00062"></a>00062 <span class="keywordtype">int</span> dimu; |
| 66 | | <a name="l00063"></a>00063 <span class="keyword">public</span>: |
| 67 | | <a name="l00065"></a><a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632">00065</a> vec <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &cond ) |
| 68 | | <a name="l00066"></a>00066 { |
| 69 | | <a name="l00067"></a>00067 it_assert_debug ( cond.length() == ( dimx+dimu ), <span class="stringliteral">"linfn::eval Wrong cond."</span> ); |
| 70 | | <a name="l00068"></a>00068 <span class="keywordflow">return</span> <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( cond ( 0,dimx-1 ),cond ( dimx,dimx+dimu ) );<span class="comment">//-1 = end (in matlab)</span> |
| 71 | | <a name="l00069"></a>00069 }; |
| 72 | | <a name="l00070"></a>00070 |
| 73 | | <a name="l00072"></a><a class="code" href="classdiffbifn.html#40d8a7eee45acc55cda33d43282faa03">00072</a> <span class="keyword">virtual</span> vec <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) {<span class="keywordflow">return</span> zeros ( dimy );}; |
| 74 | | <a name="l00074"></a><a class="code" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4">00074</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A , <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {}; |
| 75 | | <a name="l00076"></a><a class="code" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0">00076</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {}; |
| 76 | | <a name="l00078"></a><a class="code" href="classdiffbifn.html#0b33e1bfa23be5ed234d172eb4c0e4b5">00078</a> <a class="code" href="classdiffbifn.html#0b33e1bfa23be5ed234d172eb4c0e4b5" title="Default constructor (dimy is not set!).">diffbifn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rvu0 ) : rvx ( rvx0 ),rvu ( rvu0 ) {dimx=rvx.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>();dimu=rvu.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>();}; |
| 77 | | <a name="l00080"></a><a class="code" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57">00080</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57" title="access function">_dimx</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> dimx;} |
| 78 | | <a name="l00082"></a><a class="code" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879">00082</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879" title="access function">_dimu</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> dimu;} |
| 79 | | <a name="l00083"></a>00083 }; |
| 80 | | <a name="l00084"></a>00084 |
| 81 | | <a name="l00086"></a>00086 <span class="comment">//TODO can be generalized into multilinear form!</span> |
| 82 | | <a name="l00087"></a><a class="code" href="classbilinfn.html">00087</a> <span class="keyword">class </span><a class="code" href="classbilinfn.html" title="Class representing function $f(x,u) = Ax+Bu$.">bilinfn</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> |
| 83 | | <a name="l00088"></a>00088 { |
| 84 | | <a name="l00089"></a>00089 mat A; |
| 85 | | <a name="l00090"></a>00090 mat B; |
| 86 | | <a name="l00091"></a>00091 <span class="keyword">public</span> : |
| 87 | | <a name="l00092"></a>00092 vec <a class="code" href="classbilinfn.html#e36a16e72e7f9fedf3cb18d2d5505a24" title="Evaluates $f(x0,u0)$.">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ); |
| 88 | | <a name="l00093"></a>00093 |
| 89 | | <a name="l00095"></a><a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221">00095</a> <a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221" title="Default constructor.">bilinfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvu0 ) : <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> ( rvx0,rvu0 ) ,A ( eye ( dimx ) ),B ( zeros ( dimx,dimu ) ) {}; |
| 90 | | <a name="l00096"></a>00096 <span class="comment">//</span> |
| 91 | | <a name="l00097"></a>00097 <a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221" title="Default constructor.">bilinfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvu0, <span class="keyword">const</span> mat &A0, <span class="keyword">const</span> mat &B0 ); |
| 92 | | <a name="l00098"></a>00098 <span class="comment">//</span> |
| 93 | | <a name="l00099"></a><a class="code" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5">00099</a> <span class="keywordtype">void</span> <a class="code" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &F, <span class="keywordtype">bool</span> full ) |
| 94 | | <a name="l00100"></a>00100 { |
| 95 | | <a name="l00101"></a>00101 it_assert_debug ( ( F.cols() ==A.cols() ) & ( F.rows() ==A.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
| 96 | | <a name="l00102"></a>00102 <span class="keywordflow">if</span> ( full ) F=A; <span class="comment">//else : nothing has changed no need to regenerate</span> |
| 97 | | <a name="l00103"></a>00103 } |
| 98 | | <a name="l00104"></a>00104 <span class="comment">//</span> |
| 99 | | <a name="l00105"></a><a class="code" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b">00105</a> <span class="keywordtype">void</span> <a class="code" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &F, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) |
| 100 | | <a name="l00106"></a>00106 { |
| 101 | | <a name="l00107"></a>00107 it_assert_debug ( ( F.cols() ==B.cols() ) & ( F.rows() ==B.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
| 102 | | <a name="l00108"></a>00108 <span class="keywordflow">if</span> ( full ) F=B; <span class="comment">//else : nothing has changed no need to regenerate</span> |
| 103 | | <a name="l00109"></a>00109 } |
| 104 | | <a name="l00110"></a>00110 }; |
| 105 | | </pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Thu Feb 28 16:54:40 2008 for mixpp by |
| | 27 | <a name="l00012"></a>00012 <span class="preprocessor">#ifndef FN_H</span> |
| | 28 | <a name="l00013"></a>00013 <span class="preprocessor"></span><span class="preprocessor">#define FN_H</span> |
| | 29 | <a name="l00014"></a>00014 <span class="preprocessor"></span> |
| | 30 | <a name="l00015"></a>00015 <span class="preprocessor">#include <itpp/itbase.h></span> |
| | 31 | <a name="l00016"></a>00016 <span class="preprocessor">#include "<a class="code" href="libBM_8h.html" title="Bayesian Models (bm) that use Bayes rule to learn from observations.">libBM.h</a>"</span> |
| | 32 | <a name="l00017"></a>00017 |
| | 33 | <a name="l00018"></a>00018 <span class="keyword">using namespace </span>itpp; |
| | 34 | <a name="l00019"></a>00019 |
| | 35 | <a name="l00021"></a><a class="code" href="classconstfn.html">00021</a> <span class="keyword">class </span><a class="code" href="classconstfn.html" title="class representing function $f(x) = a$, here rv is empty">constfn</a> : <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| | 36 | <a name="l00022"></a>00022 { |
| | 37 | <a name="l00024"></a>00024 vec val; |
| | 38 | <a name="l00025"></a>00025 |
| | 39 | <a name="l00026"></a>00026 <span class="keyword">public</span>: |
| | 40 | <a name="l00027"></a>00027 <span class="comment">//vec eval() {return val;};</span> |
| | 41 | <a name="l00029"></a><a class="code" href="classconstfn.html#0411f603cbf675f2bc04a8f85e4e3b52">00029</a> <span class="comment"></span> vec <a class="code" href="classconstfn.html#0411f603cbf675f2bc04a8f85e4e3b52" title="inherited">eval</a> ( <span class="keyword">const</span> vec &cond ) {<span class="keywordflow">return</span> val;}; |
| | 42 | <a name="l00031"></a><a class="code" href="classconstfn.html#d08acd7fac0ef3edfa59bbe48403f2bc">00031</a> <a class="code" href="classconstfn.html#d08acd7fac0ef3edfa59bbe48403f2bc" title="Default constructor.">constfn</a> ( <span class="keyword">const</span> vec &val0 ) :val ( val0 ) {}; |
| | 43 | <a name="l00032"></a>00032 }; |
| | 44 | <a name="l00033"></a>00033 |
| | 45 | <a name="l00035"></a><a class="code" href="classlinfn.html">00035</a> <span class="keyword">class </span><a class="code" href="classlinfn.html" title="Class representing function $f(x) = Ax+B$.">linfn</a>: <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| | 46 | <a name="l00036"></a>00036 { |
| | 47 | <a name="l00038"></a>00038 <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rv; |
| | 48 | <a name="l00040"></a>00040 mat A; |
| | 49 | <a name="l00042"></a>00042 vec B; |
| | 50 | <a name="l00043"></a>00043 <span class="keyword">public</span> : |
| | 51 | <a name="l00044"></a><a class="code" href="classlinfn.html#fac0e56701f4c7beaf1c91f9b2a55f0b">00044</a> vec <a class="code" href="classlinfn.html#fac0e56701f4c7beaf1c91f9b2a55f0b" title="function evaluates numerical value of $f(x)$ at $x=cond$">eval</a> (<span class="keyword">const</span> vec &cond ) {it_assert_debug ( cond.length() ==rv.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>(), <span class="stringliteral">"linfn::eval Wrong cond."</span> );<span class="keywordflow">return</span> A*cond+B;}; |
| | 52 | <a name="l00045"></a>00045 |
| | 53 | <a name="l00046"></a>00046 <span class="comment">// linfn evalsome ( ivec &rvind );</span> |
| | 54 | <a name="l00048"></a><a class="code" href="classlinfn.html#01c70122a7783ddb0d87e6a82685adcb">00048</a> <span class="comment"></span> <a class="code" href="classlinfn.html#01c70122a7783ddb0d87e6a82685adcb" title="default constructor">linfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rv0 ) :rv ( rv0 ),A ( eye ( rv0.count() ) ),B ( zeros ( rv0.count() ) ) { }; |
| | 55 | <a name="l00050"></a><a class="code" href="classlinfn.html#15eb81f2141984a61706b7ad5b411505">00050</a> <span class="keywordtype">void</span> <a class="code" href="classlinfn.html#15eb81f2141984a61706b7ad5b411505" title="Set values of A and B.">set_parameters</a> ( <span class="keyword">const</span> mat &A0 , <span class="keyword">const</span> vec &B0 ) {A=A0; B=B0;}; |
| | 56 | <a name="l00051"></a>00051 }; |
| | 57 | <a name="l00052"></a>00052 |
| | 58 | <a name="l00053"></a>00053 |
| | 59 | <a name="l00063"></a><a class="code" href="classdiffbifn.html">00063</a> <span class="keyword">class </span><a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a>: <span class="keyword">public</span> <a class="code" href="classfnc.html" title="Class representing function $f(x)$ of variable $x$ represented by rv.">fnc</a> |
| | 60 | <a name="l00064"></a>00064 { |
| | 61 | <a name="l00065"></a>00065 <span class="keyword">protected</span>: |
| | 62 | <a name="l00067"></a><a class="code" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75">00067</a> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75" title="Indentifier of the first rv.">rvx</a>; |
| | 63 | <a name="l00069"></a><a class="code" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d">00069</a> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d" title="Indentifier of the second rv.">rvu</a>; |
| | 64 | <a name="l00071"></a><a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78">00071</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>; |
| | 65 | <a name="l00073"></a><a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79">00073</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a>; |
| | 66 | <a name="l00074"></a>00074 <span class="keyword">public</span>: |
| | 67 | <a name="l00076"></a><a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632">00076</a> vec <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &cond ) |
| | 68 | <a name="l00077"></a>00077 { |
| | 69 | <a name="l00078"></a>00078 it_assert_debug ( cond.length() == ( <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>+<a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a> ), <span class="stringliteral">"linfn::eval Wrong cond."</span> ); |
| | 70 | <a name="l00079"></a>00079 <span class="keywordflow">return</span> <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( cond ( 0,<a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>-1 ),cond ( <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>,<a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>+<a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a> ) );<span class="comment">//-1 = end (in matlab)</span> |
| | 71 | <a name="l00080"></a>00080 }; |
| | 72 | <a name="l00081"></a>00081 |
| | 73 | <a name="l00083"></a><a class="code" href="classdiffbifn.html#40d8a7eee45acc55cda33d43282faa03">00083</a> <span class="keyword">virtual</span> vec <a class="code" href="classdiffbifn.html#ad7673e16aa1a046b131b24c731c4632" title="Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) {<span class="keywordflow">return</span> zeros ( <a class="code" href="classfnc.html#22d51d10a7901331167f64f80d1af8e9" title="Length of the output vector.">dimy</a> );}; |
| | 74 | <a name="l00085"></a><a class="code" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4">00085</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdiffbifn.html#6d217a02d4fa13931258d4bebdd0feb4" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A , <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {}; |
| | 75 | <a name="l00087"></a><a class="code" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0">00087</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classdiffbifn.html#1978bafd7909d15c139a08c495c24aa0" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &A, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) {}; |
| | 76 | <a name="l00089"></a><a class="code" href="classdiffbifn.html#0b33e1bfa23be5ed234d172eb4c0e4b5">00089</a> <a class="code" href="classdiffbifn.html#0b33e1bfa23be5ed234d172eb4c0e4b5" title="Default constructor (dimy is not set!).">diffbifn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> rvu0 ) : <a class="code" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75" title="Indentifier of the first rv.">rvx</a> ( rvx0 ),<a class="code" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d" title="Indentifier of the second rv.">rvu</a> ( rvu0 ) {<a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>=<a class="code" href="classdiffbifn.html#bcf96b86250c3cbd465ba5ee62474b75" title="Indentifier of the first rv.">rvx</a>.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>();<a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a>=<a class="code" href="classdiffbifn.html#c41c74c7942dba51ef0b0bfed963447d" title="Indentifier of the second rv.">rvu</a>.<a class="code" href="classRV.html#f5c7b8bd589eef09ccdf3329a0addea0" title="Return length (number of scalars) of the RV.">count</a>();}; |
| | 77 | <a name="l00091"></a><a class="code" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57">00091</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#436de7a7301ea9eac7d6081b893bbf57" title="access function">_dimx</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>;} |
| | 78 | <a name="l00093"></a><a class="code" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879">00093</a> <span class="keywordtype">int</span> <a class="code" href="classdiffbifn.html#fc8779acbff170611aff0ee70cee3879" title="access function">_dimu</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> <a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a>;} |
| | 79 | <a name="l00094"></a>00094 }; |
| | 80 | <a name="l00095"></a>00095 |
| | 81 | <a name="l00097"></a>00097 <span class="comment">//TODO can be generalized into multilinear form!</span> |
| | 82 | <a name="l00098"></a><a class="code" href="classbilinfn.html">00098</a> <span class="keyword">class </span><a class="code" href="classbilinfn.html" title="Class representing function $f(x,u) = Ax+Bu$.">bilinfn</a>: <span class="keyword">public</span> <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> |
| | 83 | <a name="l00099"></a>00099 { |
| | 84 | <a name="l00100"></a>00100 mat A; |
| | 85 | <a name="l00101"></a>00101 mat B; |
| | 86 | <a name="l00102"></a>00102 <span class="keyword">public</span> : |
| | 87 | <a name="l00103"></a>00103 vec <a class="code" href="classbilinfn.html#e36a16e72e7f9fedf3cb18d2d5505a24" title="Evaluates $f(x0,u0)$.">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ); |
| | 88 | <a name="l00104"></a>00104 |
| | 89 | <a name="l00106"></a><a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221">00106</a> <a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221" title="Default constructor.">bilinfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvu0 ) : <a class="code" href="classdiffbifn.html" title="Class representing a differentiable function of two variables $f(x,u)$.">diffbifn</a> ( rvx0,rvu0 ) ,A ( eye ( <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a> ) ),B ( zeros ( <a class="code" href="classdiffbifn.html#f6918bc0a9dad656b4cddc028137eb78" title="cache for rvx.count()">dimx</a>,<a class="code" href="classdiffbifn.html#2e07ce491e973f03d763e37624d0fe79" title="cache for rvu.count()">dimu</a> ) ) {}; |
| | 90 | <a name="l00108"></a>00108 <a class="code" href="classbilinfn.html#af9f36282730d910a41b95f4d1fb8221" title="Default constructor.">bilinfn</a> ( <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvx0, <span class="keyword">const</span> <a class="code" href="classRV.html" title="Class representing variables, most often random variables.">RV</a> &rvu0, <span class="keyword">const</span> mat &A0, <span class="keyword">const</span> mat &B0 ); |
| | 91 | <a name="l00110"></a><a class="code" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5">00110</a> <span class="keywordtype">void</span> <a class="code" href="classbilinfn.html#79c022de8dbe2b054bb9cc49345f3ef5" title="Evaluates and writes result into A .">dfdx_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &F, <span class="keywordtype">bool</span> full ) |
| | 92 | <a name="l00111"></a>00111 { |
| | 93 | <a name="l00112"></a>00112 it_assert_debug ( ( F.cols() ==A.cols() ) & ( F.rows() ==A.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
| | 94 | <a name="l00113"></a>00113 <span class="keywordflow">if</span> ( full ) F=A; <span class="comment">//else : nothing has changed no need to regenerate</span> |
| | 95 | <a name="l00114"></a>00114 } |
| | 96 | <a name="l00116"></a><a class="code" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b">00116</a> <span class="keywordtype">void</span> <a class="code" href="classbilinfn.html#90f2b15612b14883d6ed2b0e295cb82b" title="Evaluates and writes result into A .">dfdu_cond</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0, mat &F, <span class="keywordtype">bool</span> full=<span class="keyword">true</span> ) |
| | 97 | <a name="l00117"></a>00117 { |
| | 98 | <a name="l00118"></a>00118 it_assert_debug ( ( F.cols() ==B.cols() ) & ( F.rows() ==B.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
| | 99 | <a name="l00119"></a>00119 <span class="keywordflow">if</span> ( full ) F=B; <span class="comment">//else : nothing has changed no need to regenerate</span> |
| | 100 | <a name="l00120"></a>00120 } |
| | 101 | <a name="l00121"></a>00121 }; |
| | 102 | <a name="l00122"></a>00122 |
| | 103 | <a name="l00123"></a>00123 <span class="preprocessor">#endif // FN_H</span> |
| | 104 | </pre></div><hr size="1"><address style="text-align: right;"><small>Generated on Wed Mar 5 15:40:01 2008 for mixpp by |
