\section{diffbifn Class Reference}
\label{classdiffbifn}\index{diffbifn@{diffbifn}}
Class representing a differentiable function of two variables $f(x,u)$.  


{\tt \#include $<$libFN.h$>$}

Inheritance diagram for diffbifn:\nopagebreak
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Collaboration diagram for diffbifn:\nopagebreak
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\subsection*{Public Member Functions}
\begin{CompactItemize}
\item 
vec {\bf eval} (const vec \&cond)\label{classdiffbifn_ad7673e16aa1a046b131b24c731c4632}

\begin{CompactList}\small\item\em Evaluates $f(x0,u0)$ (VS: Do we really need common eval? ). \item\end{CompactList}\item 
virtual vec {\bf eval} (const vec \&x0, const vec \&u0)\label{classdiffbifn_40d8a7eee45acc55cda33d43282faa03}

\begin{CompactList}\small\item\em Evaluates $f(x0,u0)$. \item\end{CompactList}\item 
virtual void {\bf dfdx\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
\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 
virtual void {\bf dfdu\_\-cond} (const vec \&x0, const vec \&u0, mat \&A, bool full=true)
\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 
{\bf diffbifn} (int {\bf dimy}, const {\bf RV} rvx0, const {\bf RV} rvu0)\label{classdiffbifn_797772c0d5aab8ddccec19dfe4bb2d77}

\begin{CompactList}\small\item\em Default constructor (dimy is not set!). \item\end{CompactList}\item 
int {\bf \_\-dimx} () const \label{classdiffbifn_436de7a7301ea9eac7d6081b893bbf57}

\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
int {\bf \_\-dimu} () const \label{classdiffbifn_fc8779acbff170611aff0ee70cee3879}

\begin{CompactList}\small\item\em access function \item\end{CompactList}\item 
int {\bf \_\-dimy} () const \label{classfnc_a8891973d0ca48ce38e1886df45ca298}

\begin{CompactList}\small\item\em access function \item\end{CompactList}\end{CompactItemize}
\subsection*{Protected Attributes}
\begin{CompactItemize}
\item 
{\bf RV} {\bf rvx}\label{classdiffbifn_bcf96b86250c3cbd465ba5ee62474b75}

\begin{CompactList}\small\item\em Indentifier of the first rv. \item\end{CompactList}\item 
{\bf RV} {\bf rvu}\label{classdiffbifn_c41c74c7942dba51ef0b0bfed963447d}

\begin{CompactList}\small\item\em Indentifier of the second rv. \item\end{CompactList}\item 
int {\bf dimx}\label{classdiffbifn_f6918bc0a9dad656b4cddc028137eb78}

\begin{CompactList}\small\item\em cache for rvx.count() \item\end{CompactList}\item 
int {\bf dimu}\label{classdiffbifn_2e07ce491e973f03d763e37624d0fe79}

\begin{CompactList}\small\item\em cache for rvu.count() \item\end{CompactList}\item 
int {\bf dimy}\label{classfnc_22d51d10a7901331167f64f80d1af8e9}

\begin{CompactList}\small\item\em Length of the output vector. \item\end{CompactList}\end{CompactItemize}


\subsection{Detailed Description}
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. {\tt \doxyref{fnc}{p.}{classfnc}} ) 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 \doxyref{fnc}{p.}{classfnc}} ). 

\subsection{Member Function Documentation}
\index{diffbifn@{diffbifn}!dfdx\_\-cond@{dfdx\_\-cond}}
\index{dfdx\_\-cond@{dfdx\_\-cond}!diffbifn@{diffbifn}}
\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  [inline, virtual]}}\label{classdiffbifn_6d217a02d4fa13931258d4bebdd0feb4}


Evaluates $A=\frac{d}{dx}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . 

\begin{Desc}
\item[Parameters:]
\begin{description}
\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}
\end{Desc}


Reimplemented in {\bf bilinfn} \doxyref{}{p.}{classbilinfn_79c022de8dbe2b054bb9cc49345f3ef5}, {\bf IMpmsm} \doxyref{}{p.}{classIMpmsm_b4378b5d3bf64c683e4cf5c5f1cd56f1}, and {\bf OMpmsm} \doxyref{}{p.}{classOMpmsm_b75b5fd55b2ac5ed74b5b953af122821}.

Referenced by EKF$<$ sq\_\-T $>$::bayes(), EKFCh::bayes(), EKFfull::bayes(), EKF$<$ sq\_\-T $>$::set\_\-parameters(), EKFCh::set\_\-parameters(), and EKFfull::set\_\-parameters().\index{diffbifn@{diffbifn}!dfdu\_\-cond@{dfdu\_\-cond}}
\index{dfdu\_\-cond@{dfdu\_\-cond}!diffbifn@{diffbifn}}
\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  [inline, virtual]}}\label{classdiffbifn_1978bafd7909d15c139a08c495c24aa0}


Evaluates $A=\frac{d}{du}f(x,u)|_{x0,u0}$ and writes result into {\tt A} . 

\begin{Desc}
\item[Parameters:]
\begin{description}
\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}
\end{Desc}


Reimplemented in {\bf bilinfn} \doxyref{}{p.}{classbilinfn_90f2b15612b14883d6ed2b0e295cb82b}, and {\bf IMpmsm} \doxyref{}{p.}{classIMpmsm_c3f8dad22ae9855c04a1d593b45c99b5}.

The documentation for this class was generated from the following file:\begin{CompactItemize}
\item 
work/mixpp/bdm/stat/libFN.h\end{CompactItemize}
