THIS FILE IS DEPRECATED. More...

#include <array>
#include <cmath>
#include <stdexcept>
#include <vector>
#include <Eigen/Core>
#include <Eigen/Dense>
#include <unsupported/Eigen/AutoDiff>
#include "drake/math/gradient.h"
#include "drake/common/drake_assert.h"

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Classes
struct	MatGradMultMat< DerivedA, DerivedB, DerivedDA >

struct	MatGradMult< DerivedDA, DerivedB >

struct	GetSubMatrixGradientArray< QSubvectorSize, Derived, NRows, NCols >

struct	GetSubMatrixGradientSingleElement< QSubvectorSize, Derived >

struct	ResizeDerivativesToMatchScalarImpl< Derived, Scalar >

struct	ResizeDerivativesToMatchScalarImpl< Derived, Eigen::AutoDiffScalar< DerivType > >

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

Functions
template<std::size_t Size>
std::array< int, Size >	intRange (int start)

template<typename Derived >
Derived::PlainObject	transposeGrad (const Eigen::MatrixBase< Derived > &dX, typename Derived::Index rows_X)

template<typename DerivedA , typename DerivedB , typename DerivedDA , typename DerivedDB >
MatGradMultMat< DerivedA, DerivedB, DerivedDA >::type	matGradMultMat (const Eigen::MatrixBase< DerivedA > &A, const Eigen::MatrixBase< DerivedB > &B, const Eigen::MatrixBase< DerivedDA > &dA, const Eigen::MatrixBase< DerivedDB > &dB)

template<typename DerivedDA , typename DerivedB >
MatGradMult< DerivedDA, DerivedB >::type	matGradMult (const Eigen::MatrixBase< DerivedDA > &dA, const Eigen::MatrixBase< DerivedB > &B)

template<typename Derived >
Eigen::Matrix< typename Derived::Scalar, Eigen::Dynamic, Eigen::Dynamic >	getSubMatrixGradient (const Eigen::MatrixBase< Derived > &dM, const std::vector< int > &rows, const std::vector< int > &cols, typename Derived::Index M_rows, int q_start=0, typename Derived::Index q_subvector_size=-1)

template<int QSubvectorSize, typename Derived , std::size_t NRows, std::size_t NCols>
GetSubMatrixGradientArray< QSubvectorSize, Derived, NRows, NCols >::type	getSubMatrixGradient (const Eigen::MatrixBase< Derived > &dM, const std::array< int, NRows > &rows, const std::array< int, NCols > &cols, typename Derived::Index M_rows, int q_start=0, typename Derived::Index q_subvector_size=QSubvectorSize)

template<int QSubvectorSize, typename Derived >
GetSubMatrixGradientSingleElement< QSubvectorSize, Derived >::type	getSubMatrixGradient (const Eigen::MatrixBase< Derived > &dM, int row, int col, typename Derived::Index M_rows, typename Derived::Index q_start=0, typename Derived::Index q_subvector_size=QSubvectorSize)

template<typename DerivedA , typename DerivedB >
void	setSubMatrixGradient (Eigen::MatrixBase< DerivedA > &dM, const Eigen::MatrixBase< DerivedB > &dM_submatrix, const std::vector< int > &rows, const std::vector< int > &cols, typename DerivedA::Index M_rows, typename DerivedA::Index q_start=0, typename DerivedA::Index q_subvector_size=-1)

template<int QSubvectorSize, typename DerivedA , typename DerivedB , std::size_t NRows, std::size_t NCols>
void	setSubMatrixGradient (Eigen::MatrixBase< DerivedA > &dM, const Eigen::MatrixBase< DerivedB > &dM_submatrix, const std::array< int, NRows > &rows, const std::array< int, NCols > &cols, typename DerivedA::Index M_rows, typename DerivedA::Index q_start=0, typename DerivedA::Index q_subvector_size=QSubvectorSize)

template<int QSubvectorSize, typename DerivedDM , typename DerivedDMSub >
void	setSubMatrixGradient (Eigen::MatrixBase< DerivedDM > &dM, const Eigen::MatrixBase< DerivedDMSub > &dM_submatrix, int row, int col, typename DerivedDM::Index M_rows, typename DerivedDM::Index q_start=0, typename DerivedDM::Index q_subvector_size=QSubvectorSize)

template<typename DerivedGradient , typename DerivedAutoDiff >
void	gradientMatrixToAutoDiff (const Eigen::MatrixBase< DerivedGradient > &gradient, Eigen::MatrixBase< DerivedAutoDiff > &auto_diff_matrix)

template<typename Derived >
void	resizeDerivativesToMatchScalar (Eigen::MatrixBase< Derived > &mat, const typename Derived::Scalar &scalar)
	Resize derivatives vector of each element of a matrix to to match the size of the derivatives vector of a given scalar. More...

Detailed Description

THIS FILE IS DEPRECATED.

Its contents are moving into drake/math.

Function Documentation

Eigen::Matrix<typename Derived::Scalar, Eigen::Dynamic, Eigen::Dynamic> getSubMatrixGradient	(	const Eigen::MatrixBase< Derived > &	dM,
		const std::vector< int > &	rows,
		const std::vector< int > &	cols,
		typename Derived::Index	M_rows,
		int	q_start = `0`,
		typename Derived::Index	q_subvector_size = `-1`
	)

GetSubMatrixGradientArray<QSubvectorSize, Derived, NRows, NCols>::type getSubMatrixGradient	(	const Eigen::MatrixBase< Derived > &	dM,
		const std::array< int, NRows > &	rows,
		const std::array< int, NCols > &	cols,
		typename Derived::Index	M_rows,
		int	q_start = `0`,
		typename Derived::Index	q_subvector_size = `QSubvectorSize`
	)

GetSubMatrixGradientSingleElement<QSubvectorSize, Derived>::type getSubMatrixGradient	(	const Eigen::MatrixBase< Derived > &	dM,
		int	row,
		int	col,
		typename Derived::Index	M_rows,
		typename Derived::Index	q_start = `0`,
		typename Derived::Index	q_subvector_size = `QSubvectorSize`
	)

void gradientMatrixToAutoDiff	(	const Eigen::MatrixBase< DerivedGradient > &	gradient,
		Eigen::MatrixBase< DerivedAutoDiff > &	auto_diff_matrix
	)

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std::array<int, Size> intRange ( int start )

MatGradMult<DerivedDA, DerivedB>::type matGradMult	(	const Eigen::MatrixBase< DerivedDA > &	dA,
		const Eigen::MatrixBase< DerivedB > &	B
	)

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MatGradMultMat<DerivedA, DerivedB, DerivedDA>::type matGradMultMat	(	const Eigen::MatrixBase< DerivedA > &	A,
		const Eigen::MatrixBase< DerivedB > &	B,
		const Eigen::MatrixBase< DerivedDA > &	dA,
		const Eigen::MatrixBase< DerivedDB > &	dB
	)

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void setSubMatrixGradient	(	Eigen::MatrixBase< DerivedA > &	dM,
		const Eigen::MatrixBase< DerivedB > &	dM_submatrix,
		const std::vector< int > &	rows,
		const std::vector< int > &	cols,
		typename DerivedA::Index	M_rows,
		typename DerivedA::Index	q_start = `0`,
		typename DerivedA::Index	q_subvector_size = `-1`
	)

void setSubMatrixGradient	(	Eigen::MatrixBase< DerivedA > &	dM,
		const Eigen::MatrixBase< DerivedB > &	dM_submatrix,
		const std::array< int, NRows > &	rows,
		const std::array< int, NCols > &	cols,
		typename DerivedA::Index	M_rows,
		typename DerivedA::Index	q_start = `0`,
		typename DerivedA::Index	q_subvector_size = `QSubvectorSize`
	)

void setSubMatrixGradient	(	Eigen::MatrixBase< DerivedDM > &	dM,
		const Eigen::MatrixBase< DerivedDMSub > &	dM_submatrix,
		int	row,
		int	col,
		typename DerivedDM::Index	M_rows,
		typename DerivedDM::Index	q_start = `0`,
		typename DerivedDM::Index	q_subvector_size = `QSubvectorSize`
	)

Derived::PlainObject transposeGrad	(	const Eigen::MatrixBase< Derived > &	dX,
		typename Derived::Index	rows_X
	)

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Classes

Namespaces

Functions

Detailed Description

Function Documentation