83 | | <a name="l00020"></a><a class="code" href="classbdm_1_1constfn.html">00020</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1constfn.html" title="class representing function , here rv is empty">constfn</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> |
84 | | <a name="l00021"></a>00021 { |
85 | | <a name="l00023"></a>00023 vec val; |
86 | | <a name="l00024"></a>00024 |
87 | | <a name="l00025"></a>00025 <span class="keyword">public</span>: |
88 | | <a name="l00026"></a>00026 <span class="comment">//vec eval() {return val;};</span> |
89 | | <a name="l00028"></a><a class="code" href="classbdm_1_1constfn.html#33c2631ddcad9e81ef4b743d83eed4d4">00028</a> <span class="comment"></span> vec <a class="code" href="classbdm_1_1constfn.html#33c2631ddcad9e81ef4b743d83eed4d4" title="inherited">eval</a> ( <span class="keyword">const</span> vec &cond ) {<span class="keywordflow">return</span> val;}; |
90 | | <a name="l00030"></a><a class="code" href="classbdm_1_1constfn.html#7df0693d3ef4f1d2a52a5a3c3fce44af">00030</a> <a class="code" href="classbdm_1_1constfn.html#7df0693d3ef4f1d2a52a5a3c3fce44af" title="Default constructor.">constfn</a> ( <span class="keyword">const</span> vec &val0 ) :<a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>(), val ( val0 ) {<a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a>=val.length();}; |
91 | | <a name="l00031"></a>00031 }; |
92 | | <a name="l00032"></a>00032 |
93 | | <a name="l00034"></a><a class="code" href="classbdm_1_1linfn.html">00034</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1linfn.html" title="Class representing function .">linfn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> |
94 | | <a name="l00035"></a>00035 { |
95 | | <a name="l00037"></a>00037 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> rv; |
96 | | <a name="l00039"></a>00039 mat A; |
97 | | <a name="l00041"></a>00041 vec B; |
98 | | <a name="l00042"></a>00042 <span class="keyword">public</span> : |
99 | | <a name="l00043"></a><a class="code" href="classbdm_1_1linfn.html#b8063094a2aa210dcf7ae73e2b85e09c">00043</a> vec <a class="code" href="classbdm_1_1linfn.html#b8063094a2aa210dcf7ae73e2b85e09c" title="function evaluates numerical value of at cond ">eval</a> (<span class="keyword">const</span> vec &cond ) {it_assert_debug ( cond.length() ==A.cols(), <span class="stringliteral">"linfn::eval Wrong cond."</span> );<span class="keywordflow">return</span> A*cond+B;}; |
100 | | <a name="l00044"></a>00044 |
101 | | <a name="l00045"></a>00045 <span class="comment">// linfn evalsome ( ivec &rvind );</span> |
102 | | <a name="l00047"></a><a class="code" href="classbdm_1_1linfn.html#b39c494c12863c031eb2acf86c0bc429">00047</a> <span class="comment"></span> <a class="code" href="classbdm_1_1linfn.html#b39c494c12863c031eb2acf86c0bc429" title="default constructor">linfn</a> ( ) : <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>(), A ( ),B () { }; |
103 | | <a name="l00049"></a><a class="code" href="classbdm_1_1linfn.html#7e0e714b814532fc3e38daede24c5e68">00049</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1linfn.html#7e0e714b814532fc3e38daede24c5e68" 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; <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a>=A.rows();}; |
104 | | <a name="l00050"></a>00050 }; |
105 | | <a name="l00051"></a>00051 |
106 | | <a name="l00052"></a>00052 |
107 | | <a name="l00062"></a><a class="code" href="classbdm_1_1diffbifn.html">00062</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> |
108 | | <a name="l00063"></a>00063 { |
109 | | <a name="l00064"></a>00064 <span class="keyword">protected</span>: |
110 | | <a name="l00066"></a><a class="code" href="classbdm_1_1diffbifn.html#5f56547d8e9378b669d3cc19d7831cbb">00066</a> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1diffbifn.html#5f56547d8e9378b669d3cc19d7831cbb" title="Indentifier of the first rv.">rvx</a>; |
111 | | <a name="l00068"></a><a class="code" href="classbdm_1_1diffbifn.html#a8e3e861d5ec2a7ae9524e6338e58320">00068</a> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1diffbifn.html#a8e3e861d5ec2a7ae9524e6338e58320" title="Indentifier of the second rv.">rvu</a>; |
112 | | <a name="l00070"></a><a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e">00070</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>; |
113 | | <a name="l00072"></a><a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0">00072</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>; |
114 | | <a name="l00073"></a>00073 <span class="keyword">public</span>: |
115 | | <a name="l00075"></a><a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3">00075</a> vec <a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &cond ) |
116 | | <a name="l00076"></a>00076 { |
117 | | <a name="l00077"></a>00077 it_assert_debug ( cond.length() == ( <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>+<a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a> ), <span class="stringliteral">"linfn::eval Wrong cond."</span> ); |
118 | | <a name="l00078"></a>00078 <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates (VS: Do we really need common eval? ).">eval</a> ( cond ( 0,<a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>-1 ),cond ( <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>,<a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>+<a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>-1 ) );<span class="comment">//-1 = end (in matlab)</span> |
119 | | <a name="l00079"></a>00079 }; |
120 | | <a name="l00080"></a>00080 |
121 | | <a name="l00082"></a><a class="code" href="classbdm_1_1diffbifn.html#b5462c05b58cd38367ff946836bb82d3">00082</a> <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1diffbifn.html#b5462c05b58cd38367ff946836bb82d3" title="Evaluates .">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="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a> );}; |
122 | | <a name="l00084"></a><a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac">00084</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" 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> ) {}; |
123 | | <a name="l00086"></a><a class="code" href="classbdm_1_1diffbifn.html#6ea1dc7a482601b29c5ba36a52d20d07">00086</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1diffbifn.html#6ea1dc7a482601b29c5ba36a52d20d07" 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> ) {}; |
124 | | <a name="l00088"></a><a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681">00088</a> <a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> () : <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>() {}; |
125 | | <a name="l00090"></a><a class="code" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b">00090</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b" title="access function">_dimx</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>;} |
126 | | <a name="l00092"></a><a class="code" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced">00092</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced" title="access function">_dimu</a>()<span class="keyword"> const</span>{<span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>;} |
127 | | <a name="l00093"></a>00093 }; |
128 | | <a name="l00094"></a>00094 |
129 | | <a name="l00096"></a>00096 <span class="comment">//TODO can be generalized into multilinear form!</span> |
130 | | <a name="l00097"></a><a class="code" href="classbdm_1_1bilinfn.html">00097</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> |
131 | | <a name="l00098"></a>00098 { |
132 | | <a name="l00099"></a>00099 mat A; |
133 | | <a name="l00100"></a>00100 mat B; |
134 | | <a name="l00101"></a>00101 <span class="keyword">public</span> : |
135 | | <a name="l00104"></a>00104 |
136 | | <a name="l00105"></a>00105 <a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a> () : <a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> () ,A() ,B() {}; |
137 | | <a name="l00106"></a>00106 <a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a> (<span class="keyword">const</span> mat A0, <span class="keyword">const</span> mat B0) {<a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de" title="Alternative constructor.">set_parameters</a>(A0,B0);}; |
138 | | <a name="l00108"></a><a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de">00108</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de" title="Alternative constructor.">set_parameters</a>(<span class="keyword">const</span> mat A0, <span class="keyword">const</span> mat B0){ |
139 | | <a name="l00109"></a>00109 it_assert_debug(A0.rows()==B0.rows(),<span class="stringliteral">""</span>); |
140 | | <a name="l00110"></a>00110 A=A0;B=B0; |
141 | | <a name="l00111"></a>00111 <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a>=A.rows(); |
142 | | <a name="l00112"></a>00112 <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>=A.cols(); |
143 | | <a name="l00113"></a>00113 <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>=B.cols(); |
144 | | <a name="l00114"></a>00114 } |
145 | | <a name="l00116"></a>00116 |
146 | | <a name="l00119"></a><a class="code" href="classbdm_1_1bilinfn.html#846c21e8e8d41555eb7c075f5ff86ffd">00119</a> <span class="keyword">inline</span> vec <a class="code" href="classbdm_1_1bilinfn.html#846c21e8e8d41555eb7c075f5ff86ffd" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) |
147 | | <a name="l00120"></a>00120 { |
148 | | <a name="l00121"></a>00121 it_assert_debug ( x0.length() ==<a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>, <span class="stringliteral">"linfn::eval Wrong xcond."</span> ); |
149 | | <a name="l00122"></a>00122 it_assert_debug ( u0.length() ==<a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>, <span class="stringliteral">"linfn::eval Wrong ucond."</span> ); |
150 | | <a name="l00123"></a>00123 <span class="keywordflow">return</span> A*x0+B*u0; |
151 | | <a name="l00124"></a>00124 } |
152 | | <a name="l00125"></a>00125 |
153 | | <a name="l00126"></a><a class="code" href="classbdm_1_1bilinfn.html#33066f1054dd259df2ec5fafae4b46e6">00126</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1bilinfn.html#33066f1054dd259df2ec5fafae4b46e6" 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 ) |
154 | | <a name="l00127"></a>00127 { |
155 | | <a name="l00128"></a>00128 it_assert_debug ( ( F.cols() ==A.cols() ) & ( F.rows() ==A.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
156 | | <a name="l00129"></a>00129 <span class="keywordflow">if</span> ( full ) F=A; <span class="comment">//else : nothing has changed no need to regenerate</span> |
157 | | <a name="l00130"></a>00130 } |
158 | | <a name="l00132"></a><a class="code" href="classbdm_1_1bilinfn.html#9cfe2f1c115ba7c3c75849a10a4f2c08">00132</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1bilinfn.html#9cfe2f1c115ba7c3c75849a10a4f2c08" 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> ) |
159 | | <a name="l00133"></a>00133 { |
160 | | <a name="l00134"></a>00134 it_assert_debug ( ( F.cols() ==B.cols() ) & ( F.rows() ==B.rows() ),<span class="stringliteral">"Allocated F is not compatible."</span> ); |
161 | | <a name="l00135"></a>00135 <span class="keywordflow">if</span> ( full ) F=B; <span class="comment">//else : nothing has changed no need to regenerate</span> |
162 | | <a name="l00136"></a>00136 } |
163 | | <a name="l00138"></a>00138 }; |
| 82 | <a name="l00020"></a><a class="code" href="classbdm_1_1constfn.html">00020</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1constfn.html" title="class representing function , here rv is empty">constfn</a> : <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> { |
| 83 | <a name="l00022"></a>00022 vec val; |
| 84 | <a name="l00023"></a>00023 |
| 85 | <a name="l00024"></a>00024 <span class="keyword">public</span>: |
| 86 | <a name="l00025"></a>00025 <span class="comment">//vec eval() {return val;};</span> |
| 87 | <a name="l00027"></a><a class="code" href="classbdm_1_1constfn.html#33c2631ddcad9e81ef4b743d83eed4d4">00027</a> <span class="comment"></span> vec <a class="code" href="classbdm_1_1constfn.html#33c2631ddcad9e81ef4b743d83eed4d4" title="inherited">eval</a> ( <span class="keyword">const</span> vec &cond ) { |
| 88 | <a name="l00028"></a>00028 <span class="keywordflow">return</span> val; |
| 89 | <a name="l00029"></a>00029 }; |
| 90 | <a name="l00031"></a><a class="code" href="classbdm_1_1constfn.html#7df0693d3ef4f1d2a52a5a3c3fce44af">00031</a> <a class="code" href="classbdm_1_1constfn.html#7df0693d3ef4f1d2a52a5a3c3fce44af" title="Default constructor.">constfn</a> ( <span class="keyword">const</span> vec &val0 ) : <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>(), val ( val0 ) { |
| 91 | <a name="l00032"></a>00032 <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a> = val.length(); |
| 92 | <a name="l00033"></a>00033 }; |
| 93 | <a name="l00034"></a>00034 }; |
| 94 | <a name="l00035"></a>00035 |
| 95 | <a name="l00037"></a><a class="code" href="classbdm_1_1linfn.html">00037</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1linfn.html" title="Class representing function .">linfn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> { |
| 96 | <a name="l00039"></a>00039 <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> rv; |
| 97 | <a name="l00041"></a>00041 mat A; |
| 98 | <a name="l00043"></a>00043 vec B; |
| 99 | <a name="l00044"></a>00044 <span class="keyword">public</span> : |
| 100 | <a name="l00045"></a><a class="code" href="classbdm_1_1linfn.html#b8063094a2aa210dcf7ae73e2b85e09c">00045</a> vec <a class="code" href="classbdm_1_1linfn.html#b8063094a2aa210dcf7ae73e2b85e09c" title="function evaluates numerical value of at cond ">eval</a> ( <span class="keyword">const</span> vec &cond ) { |
| 101 | <a name="l00046"></a>00046 it_assert_debug ( cond.length() == A.cols(), <span class="stringliteral">"linfn::eval Wrong cond."</span> ); |
| 102 | <a name="l00047"></a>00047 <span class="keywordflow">return</span> A*cond + B; |
| 103 | <a name="l00048"></a>00048 }; |
| 104 | <a name="l00049"></a>00049 |
| 105 | <a name="l00050"></a>00050 <span class="comment">// linfn evalsome ( ivec &rvind );</span> |
| 106 | <a name="l00052"></a><a class="code" href="classbdm_1_1linfn.html#b39c494c12863c031eb2acf86c0bc429">00052</a> <span class="comment"></span> <a class="code" href="classbdm_1_1linfn.html#b39c494c12863c031eb2acf86c0bc429" title="default constructor">linfn</a> ( ) : <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>(), A ( ), B () { }; |
| 107 | <a name="l00054"></a><a class="code" href="classbdm_1_1linfn.html#7e0e714b814532fc3e38daede24c5e68">00054</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1linfn.html#7e0e714b814532fc3e38daede24c5e68" title="Set values of A and B.">set_parameters</a> ( <span class="keyword">const</span> mat &A0 , <span class="keyword">const</span> vec &B0 ) { |
| 108 | <a name="l00055"></a>00055 A = A0; |
| 109 | <a name="l00056"></a>00056 B = B0; |
| 110 | <a name="l00057"></a>00057 <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a> = A.rows(); |
| 111 | <a name="l00058"></a>00058 }; |
| 112 | <a name="l00059"></a>00059 }; |
| 113 | <a name="l00060"></a>00060 |
| 114 | <a name="l00061"></a>00061 |
| 115 | <a name="l00071"></a><a class="code" href="classbdm_1_1diffbifn.html">00071</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a> { |
| 116 | <a name="l00072"></a>00072 <span class="keyword">protected</span>: |
| 117 | <a name="l00074"></a><a class="code" href="classbdm_1_1diffbifn.html#5f56547d8e9378b669d3cc19d7831cbb">00074</a> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1diffbifn.html#5f56547d8e9378b669d3cc19d7831cbb" title="Indentifier of the first rv.">rvx</a>; |
| 118 | <a name="l00076"></a><a class="code" href="classbdm_1_1diffbifn.html#a8e3e861d5ec2a7ae9524e6338e58320">00076</a> <a class="code" href="classbdm_1_1RV.html" title="Class representing variables, most often random variables.">RV</a> <a class="code" href="classbdm_1_1diffbifn.html#a8e3e861d5ec2a7ae9524e6338e58320" title="Indentifier of the second rv.">rvu</a>; |
| 119 | <a name="l00078"></a><a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e">00078</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>; |
| 120 | <a name="l00080"></a><a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0">00080</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>; |
| 121 | <a name="l00081"></a>00081 <span class="keyword">public</span>: |
| 122 | <a name="l00083"></a><a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3">00083</a> vec <a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates (VS: Do we really need common eval? ).">eval</a> ( <span class="keyword">const</span> vec &cond ) { |
| 123 | <a name="l00084"></a>00084 it_assert_debug ( cond.length() == ( <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a> + <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a> ), <span class="stringliteral">"linfn::eval Wrong cond."</span> ); |
| 124 | <a name="l00085"></a>00085 <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#188f31066bd72e1bf0ddacd1eb0e6af3" title="Evaluates (VS: Do we really need common eval? ).">eval</a> ( cond ( 0, <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a> - 1 ), cond ( <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>, <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a> + <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a> - 1 ) );<span class="comment">//-1 = end (in matlab)</span> |
| 125 | <a name="l00086"></a>00086 }; |
| 126 | <a name="l00087"></a>00087 |
| 127 | <a name="l00089"></a><a class="code" href="classbdm_1_1diffbifn.html#b5462c05b58cd38367ff946836bb82d3">00089</a> <span class="keyword">virtual</span> vec <a class="code" href="classbdm_1_1diffbifn.html#b5462c05b58cd38367ff946836bb82d3" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| 128 | <a name="l00090"></a>00090 <span class="keywordflow">return</span> zeros ( <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a> ); |
| 129 | <a name="l00091"></a>00091 }; |
| 130 | <a name="l00093"></a><a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac">00093</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1diffbifn.html#651184f808a35f236dbfea21aca1b6ac" 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> ) {}; |
| 131 | <a name="l00095"></a><a class="code" href="classbdm_1_1diffbifn.html#6ea1dc7a482601b29c5ba36a52d20d07">00095</a> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1diffbifn.html#6ea1dc7a482601b29c5ba36a52d20d07" 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> ) {}; |
| 132 | <a name="l00097"></a><a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681">00097</a> <a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> () : <a class="code" href="classbdm_1_1fnc.html" title="Class representing function of variable represented by rv.">fnc</a>() {}; |
| 133 | <a name="l00099"></a><a class="code" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b">00099</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#1b3c8f5949f13d86d2661e191d4b369b" title="access function">_dimx</a>()<span class="keyword"> const </span>{ |
| 134 | <a name="l00100"></a>00100 <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>; |
| 135 | <a name="l00101"></a>00101 } |
| 136 | <a name="l00103"></a><a class="code" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced">00103</a> <span class="keywordtype">int</span> <a class="code" href="classbdm_1_1diffbifn.html#031458f38c97cdb3aecde16f6a06dced" title="access function">_dimu</a>()<span class="keyword"> const </span>{ |
| 137 | <a name="l00104"></a>00104 <span class="keywordflow">return</span> <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>; |
| 138 | <a name="l00105"></a>00105 } |
| 139 | <a name="l00106"></a>00106 }; |
| 140 | <a name="l00107"></a>00107 |
| 141 | <a name="l00109"></a>00109 <span class="comment">//TODO can be generalized into multilinear form!</span> |
| 142 | <a name="l00110"></a><a class="code" href="classbdm_1_1bilinfn.html">00110</a> <span class="keyword">class </span><a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a>: <span class="keyword">public</span> <a class="code" href="classbdm_1_1diffbifn.html" title="Class representing a differentiable function of two variables .">diffbifn</a> { |
| 143 | <a name="l00111"></a>00111 mat A; |
| 144 | <a name="l00112"></a>00112 mat B; |
| 145 | <a name="l00113"></a>00113 <span class="keyword">public</span> : |
| 146 | <a name="l00116"></a>00116 |
| 147 | <a name="l00117"></a>00117 <a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a> () : <a class="code" href="classbdm_1_1diffbifn.html#92ff29d748e445b440453a38d0b09681" title="Default constructor (dimy is not set!).">diffbifn</a> () , A() , B() {}; |
| 148 | <a name="l00118"></a>00118 <a class="code" href="classbdm_1_1bilinfn.html" title="Class representing function .">bilinfn</a> ( <span class="keyword">const</span> mat A0, <span class="keyword">const</span> mat B0 ) { |
| 149 | <a name="l00119"></a>00119 <a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de" title="Alternative constructor.">set_parameters</a> ( A0, B0 ); |
| 150 | <a name="l00120"></a>00120 }; |
| 151 | <a name="l00122"></a><a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de">00122</a> <span class="keywordtype">void</span> <a class="code" href="classbdm_1_1bilinfn.html#5a508fbb5fc013904d9b62b2231442de" title="Alternative constructor.">set_parameters</a> ( <span class="keyword">const</span> mat A0, <span class="keyword">const</span> mat B0 ) { |
| 152 | <a name="l00123"></a>00123 it_assert_debug ( A0.rows() == B0.rows(), <span class="stringliteral">""</span> ); |
| 153 | <a name="l00124"></a>00124 A = A0; |
| 154 | <a name="l00125"></a>00125 B = B0; |
| 155 | <a name="l00126"></a>00126 <a class="code" href="classbdm_1_1fnc.html#52156cb4a52a62d51fc7455985797a62" title="Length of the output vector.">dimy</a> = A.rows(); |
| 156 | <a name="l00127"></a>00127 <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a> = A.cols(); |
| 157 | <a name="l00128"></a>00128 <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a> = B.cols(); |
| 158 | <a name="l00129"></a>00129 } |
| 159 | <a name="l00131"></a>00131 |
| 160 | <a name="l00134"></a><a class="code" href="classbdm_1_1bilinfn.html#846c21e8e8d41555eb7c075f5ff86ffd">00134</a> <span class="keyword">inline</span> vec <a class="code" href="classbdm_1_1bilinfn.html#846c21e8e8d41555eb7c075f5ff86ffd" title="Evaluates .">eval</a> ( <span class="keyword">const</span> vec &x0, <span class="keyword">const</span> vec &u0 ) { |
| 161 | <a name="l00135"></a>00135 it_assert_debug ( x0.length() == <a class="code" href="classbdm_1_1diffbifn.html#a193aa2c4a500139c0c4b669691e588e" title="cache for rvx.count()">dimx</a>, <span class="stringliteral">"linfn::eval Wrong xcond."</span> ); |
| 162 | <a name="l00136"></a>00136 it_assert_debug ( u0.length() == <a class="code" href="classbdm_1_1diffbifn.html#30c45617eec89adeb4ebaa763d093fb0" title="cache for rvu.count()">dimu</a>, <span class="stringliteral">"linfn::eval Wrong ucond."</span> ); |
| 163 | <a name="l00137"></a>00137 <span class="keywordflow">return</span> A*x0 + B*u0; |
| 164 | <a name="l00138"></a>00138 } |