Gradient.h File Reference

THIS FILE IS DEPRECATED. More...

#include <Eigen/Core>
#include <Eigen/Dense>
#include <unsupported/Eigen/AutoDiff>
#include "drake/common/drake_assert.h"

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Classes
struct	TotalSizeAtCompileTime< Head, Tail >
	Helper for totalSizeAtCompileTime function (recursive) More...
struct	TotalSizeAtCompileTime< Head >
	Helper for totalSizeAtCompileTime function (base case) More...
struct	InitializeAutoDiffTupleHelper< Index >
	Helper for initializeAutoDiffTuple function (recursive) More...
struct	InitializeAutoDiffTupleHelper< 0 >
	Helper for initializeAutoDiffTuple function (base case) More...

Namespaces
	Drake
	NOTE: The contents of this class are for the most part direct ports of drake/systems/plants//inverseKinBackend.m from Matlab to C++; many methods and variables follow Matlab conventions and are documented in that file.
	Drake::internal

Typedefs
template<int num_vars>
using	TaylorVard = Eigen::AutoDiffScalar< Eigen::Matrix< double, num_vars, 1 > >
template<int num_vars, int rows>
using	TaylorVecd = Eigen::Matrix< TaylorVard< num_vars >, rows, 1 >
template<int num_vars, int rows, int cols>
using	TaylorMatd = Eigen::Matrix< TaylorVard< num_vars >, rows, cols >
typedef TaylorVard< Eigen::Dynamic >	TaylorVarXd
typedef TaylorVecd< Eigen::Dynamic, Eigen::Dynamic >	TaylorVecXd
typedef TaylorMatd< Eigen::Dynamic, Eigen::Dynamic, Eigen::Dynamic >	TaylorMatXd
template<typename Derived , int Nq>
using	AutoDiffMatrixType = Eigen::Matrix< Eigen::AutoDiffScalar< Eigen::Matrix< typename Derived::Scalar, Nq, 1 > >, Derived::RowsAtCompileTime, Derived::ColsAtCompileTime, 0, Derived::MaxRowsAtCompileTime, Derived::MaxColsAtCompileTime >
	The appropriate AutoDiffScalar gradient type given the value type and the number of derivatives at compile time. More...

Functions
template<typename Derived , typename DerivedGradient , typename DerivedAutoDiff >
void	initializeAutoDiffGivenGradientMatrix (const Eigen::MatrixBase< Derived > &val, const Eigen::MatrixBase< DerivedGradient > &gradient, Eigen::MatrixBase< DerivedAutoDiff > &auto_diff_matrix)
	Initializes an autodiff matrix given a matrix of values and gradient matrix. More...
template<typename Derived , typename DerivedGradient >
AutoDiffMatrixType< Derived, DerivedGradient::ColsAtCompileTime >	initializeAutoDiffGivenGradientMatrix (const Eigen::MatrixBase< Derived > &val, const Eigen::MatrixBase< DerivedGradient > &gradient)
	Creates and initializes an autodiff matrix given a matrix of values and gradient matrix. More...
template<typename Derived , typename DerivedAutoDiff >
void	initializeAutoDiff (const Eigen::MatrixBase< Derived > &val, Eigen::MatrixBase< DerivedAutoDiff > &auto_diff_matrix, Eigen::DenseIndex num_derivatives=Eigen::Dynamic, Eigen::DenseIndex deriv_num_start=0)
	Initialize a single autodiff matrix given the corresponding value matrix. More...
template<int Nq = Eigen::Dynamic, typename Derived >
AutoDiffMatrixType< Derived, Nq >	initializeAutoDiff (const Eigen::MatrixBase< Derived > &mat, Eigen::DenseIndex num_derivatives=-1, Eigen::DenseIndex deriv_num_start=0)
	Initialize a single autodiff matrix given the corresponding value matrix. More...
template<typename... Args>
constexpr int	totalSizeAtCompileTime ()
	Determine the total size at compile time of a number of arguments based on their SizeAtCompileTime static members. More...
constexpr Eigen::DenseIndex	totalSizeAtRunTime ()
	Determine the total size at runtime of a number of arguments using their size() methods (base case). More...
template<typename Head , typename... Tail>
Eigen::DenseIndex	totalSizeAtRunTime (const Eigen::MatrixBase< Head > &head, const Tail &...tail)
	Determine the total size at runtime of a number of arguments using their size() methods (recursive) More...
template<typename... Deriveds>
std::tuple< AutoDiffMatrixType< Deriveds, totalSizeAtCompileTime< Deriveds... >)>... >	initializeAutoDiffTuple (const Eigen::MatrixBase< Deriveds > &...args)
	Given a series of Eigen matrices, create a tuple of corresponding AutoDiff matrices with values equal to the input matrices and properly initialized derivative vectors. More...

Detailed Description

THIS FILE IS DEPRECATED.

Its contents are moving into drake/math.