TVM
0.9.2
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#include <tvm/utils/UpdatelessFunction.h>
Public Member Functions | |
UpdatelessFunction (FunctionPtr f) | |
const VariableVector & | variables () const noexcept |
const FunctionPtr & | function () const noexcept |
template<typename... Vals> | |
const Eigen::VectorXd & | value (Vals &&... vals) const |
template<typename... Vals> | |
tvm::internal::MatrixConstRefWithProperties | jacobian (const Variable &x, Vals &&... vals) const |
template<typename... Vals> | |
const Eigen::VectorXd & | velocity (Vals &&... vals) const |
template<typename... Vals> | |
const Eigen::VectorXd & | normalAcceleration (Vals &&... vals) const |
template<typename... Vals> | |
tvm::internal::MatrixConstRefWithProperties | JDot (const Variable &x, Vals &&... vals) const |
This class wraps a function to mask the update mechanism to the user, by providing methods as value and jacobian that can be called directly with the values of the variables. It is meant for diagnostic and debugging purposes.
tvm::utils::UpdatelessFunction::UpdatelessFunction | ( | FunctionPtr | f | ) |
Constructor with the function to be wrapped.
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inlinenoexcept |
Get the function associated to this function
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inline |
Get the jacobian matrix with respect to x, for the given variable values. See value for an explanation of how to specify the values.
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inline |
Get the time derivative of the jacobian matrix with respect to variable x, for the given variable values and velocities. See velocity for an explanation of how to specify the values and velocities.
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inline |
Get the normalAcceleration, for the given variable values and velocities. See velocity for an explanation of how to specify the values and velocities.
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inline |
Get the value of the function for given values of its variables. Variable values can be given as VectorXd, or as std::initializer_list. There are three possible syntaxes:
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inlinenoexcept |
Get the variables in this function
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inline |
Get the velocity of the function for given values and velocities of its variables. The values and velocities can be given as VectorXd, or as std::initializer_list. There are three possible syntaxes: