#include <tvm/function/BasicLinearFunction.h>

Inheritance diagram for tvm::function::BasicLinearFunction:

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Collaboration diagram for tvm::function::BasicLinearFunction:

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Public Member Functions
	BasicLinearFunction (const MatrixConstRef &A, VariablePtr x)

	BasicLinearFunction (const std::vector< MatrixConstRef > &A, const std::vector< VariablePtr > &x)

	BasicLinearFunction (const MatrixConstRef &A, VariablePtr x, const VectorConstRef &b)

	BasicLinearFunction (const std::vector< MatrixConstRef > &A, const std::vector< VariablePtr > &x, const VectorConstRef &b)

	BasicLinearFunction (int m, VariablePtr x)

	BasicLinearFunction (int m, const std::vector< VariablePtr > &x)

template<typename Derived >
	BasicLinearFunction (const utils::LinearExpr< Derived > &lin)

template<typename CstDerived , typename... Derived>
	BasicLinearFunction (const utils::AffineExpr< CstDerived, Derived... > &aff)

virtual void	A (const MatrixConstRef &A, const Variable &x, const tvm::internal::MatrixProperties &p={})

virtual void	A (const MatrixConstRef &A, const tvm::internal::MatrixProperties &p={})

virtual void	b (const VectorConstRef &b, const tvm::internal::MatrixProperties &p={})

Public Member Functions inherited from tvm::function::abstract::LinearFunction
void	updateValue ()

void	updateVelocity ()

void	resizeCache () override

const tvm::internal::VectorWithProperties &	b () const

Public Member Functions inherited from tvm::function::abstract::Function
virtual const Eigen::VectorXd &	velocity () const

virtual const Eigen::VectorXd &	normalAcceleration () const

virtual MatrixConstRef	JDot (const Variable &x) const

Public Member Functions inherited from tvm::internal::FirstOrderProvider
virtual const Eigen::VectorXd &	value () const

virtual MatrixConstRefWithProperties	jacobian (const Variable &x) const

bool	linearIn (const Variable &x) const

const Space &	imageSpace () const

int	size () const

int	rSize () const

int	tSize () const

const VariableVector &	variables () const

Public Member Functions inherited from tvm::graph::internal::AbstractNode
template<typename EnumT >
bool	isUpdateEnabled (EnumT e) const

virtual bool	isUpdateStaticallyEnabled (int) const

virtual bool	isUpdateCustomEnabled (int) const

virtual	~AbstractNode ()=default

void	update (int i)

Public Member Functions inherited from tvm::graph::internal::Inputs
virtual	~Inputs ()=default

template<typename T , typename EnumI , typename... Args>
void	addInput (std::shared_ptr< T > source, EnumI i, Args... args)

template<typename T , typename EnumI , typename... Args, typename std::enable_if< std::is_base_of< abstract::Outputs, T >::value, int >::type = 0>
void	addInput (T &source, EnumI i, Args... args)

template<typename T >
void	removeInput (T *source)

template<typename T , typename... Args>
void	removeInput (T *source, Args... args)

template<typename T >
Iterator	getInput (T *source)

template<typename T >
Iterator	getInput (const std::shared_ptr< T > &source)

Public Member Functions inherited from tvm::graph::abstract::Outputs
virtual	~Outputs ()=default

template<typename EnumT >
bool	isOutputEnabled (EnumT e) const

bool	isOutputEnabled (int i) const

virtual bool	isOutputStaticallyEnabled (int) const

virtual bool	isOutputCustomEnabled (int) const

Additional Inherited Members
Public Types inherited from tvm::graph::internal::AbstractNode
enum class	Update_

using	UpdateParent = AbstractNode

using	UpdateBase = AbstractNode

Public Types inherited from tvm::graph::internal::Inputs
using	inputs_t = std::unordered_map< abstract::Outputs *, std::set< int > >

using	store_t = std::unordered_set< std::shared_ptr< abstract::Outputs > >

Public Types inherited from tvm::graph::abstract::Outputs
enum class	Output_

using	OutputParent = Outputs

using	OutputBase = Outputs

Static Public Member Functions inherited from tvm::graph::internal::AbstractNode
static constexpr const char *	UpdateName (Update_)

template<typename EnumT >
static constexpr bool	UpdateStaticallyEnabled (EnumT)

Static Public Member Functions inherited from tvm::graph::abstract::Outputs
static constexpr const char *	OutputName (Output_)

template<typename EnumT >
static constexpr bool	OutputStaticallyEnabled (EnumT)

Static Public Attributes inherited from tvm::graph::internal::AbstractNode
static constexpr unsigned int	UpdateSize = 0

static constexpr auto	UpdateBaseName = "AbstractNode"

Static Public Attributes inherited from tvm::graph::abstract::Outputs
static constexpr unsigned int	OutputSize = 0

static constexpr auto	OutputBaseName = "Outputs"

Protected Types inherited from tvm::graph::internal::AbstractNode
using	input_dependency_t = std::map< Outputs *, std::set< int > >

Protected Member Functions inherited from tvm::function::abstract::LinearFunction
	LinearFunction (int m)

virtual void	updateValue_ ()

virtual void	updateVelocity_ ()

void	setDerivativesToZero ()

Protected Member Functions inherited from tvm::function::abstract::Function
	Function (int m=0)

	Function (Space image)

void	resizeVelocityCache ()

void	resizeNormalAccelerationCache ()

void	resizeJDotCache ()

void	addVariable_ (VariablePtr v) override

void	removeVariable_ (VariablePtr v) override

Protected Member Functions inherited from tvm::internal::FirstOrderProvider
	FirstOrderProvider (int m)

	FirstOrderProvider (Space image)

void	resizeValueCache ()

void	resizeJacobianCache ()

void	addVariable (VariablePtr v, bool linear)

void	removeVariable (VariablePtr v)

void	addVariable (const VariableVector &v, bool linear)

void	splitJacobian (const MatrixConstRef &J, const std::vector< VariablePtr > &vars, bool keepProperties=false)

void	splitJacobian (const MatrixConstRef &J, const VariableVector &vars, bool keepProperties=false)

void	resize (int m)

Protected Member Functions inherited from tvm::graph::abstract::Node< FirstOrderProvider >
void	registerUpdates (EnumT u, void(U::*fn)(), Args... args)

void	registerUpdates (EnumT u, void(U::*fn)())

void	addOutputDependency (EnumO o, EnumU u)

void	addOutputDependency (std::initializer_list< EnumO > os, EnumU u)

void	addInternalDependency (EnumU1 uDependent, EnumU2 u)

void	addInputDependency (EnumU u, std::shared_ptr< S > source, EnumO i, Args... args)

void	addInputDependency (EnumU u, S &source, EnumO i, Args... args)

void	addDirectDependency (EnumO o, std::shared_ptr< S > source, EnumI i)

void	addDirectDependency (EnumO o, S &source, EnumI i)

Protected Attributes inherited from tvm::function::abstract::LinearFunction
tvm::internal::VectorWithProperties	b_

Protected Attributes inherited from tvm::function::abstract::Function
Eigen::VectorXd	velocity_

Eigen::VectorXd	normalAcceleration_

utils::internal::MapWithVariableAsKey< Eigen::MatrixXd, slice_jdot >	JDot_

Protected Attributes inherited from tvm::internal::FirstOrderProvider
Eigen::VectorXd	value_

utils::internal::MapWithVariableAsKey< MatrixWithProperties, slice_matrix, true >	jacobian_

Space	imageSpace_

VariableVector	variables_

utils::internal::MapWithVariableAsKey< bool, slice_linear >	linear_

Protected Attributes inherited from tvm::graph::internal::AbstractNode
std::map< int, std::function< void(AbstractNode &)> >	updates_

std::map< int, std::vector< int > >	outputDependencies_

std::map< int, std::vector< int > >	internalDependencies_

std::map< int, input_dependency_t >	inputDependencies_

std::map< int, std::pair< Outputs *, int > >	directDependencies_

Protected Attributes inherited from tvm::graph::abstract::Outputs
bool	is_node_ = false

Detailed Description

The most basic linear function f(x_1, ..., x_k) = sum A_i x_i + b where the matrices are constant.

Constructor & Destructor Documentation

◆ BasicLinearFunction() [1/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	const MatrixConstRef &	A,
		VariablePtr	x
	)

A x (b = 0)

◆ BasicLinearFunction() [2/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	const std::vector< MatrixConstRef > &	A,
		const std::vector< VariablePtr > &	x
	)

A1 x1 + ... An xn (b = 0)

◆ BasicLinearFunction() [3/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	const MatrixConstRef &	A,
		VariablePtr	x,
		const VectorConstRef &	b
	)

A x + b

◆ BasicLinearFunction() [4/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	const std::vector< MatrixConstRef > &	A,
		const std::vector< VariablePtr > &	x,
		const VectorConstRef &	b
	)

A1 x1 + ... An xn + b

◆ BasicLinearFunction() [5/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	int	m,
		VariablePtr	x
	)

Uninitialized version for a function of size m with a single variable x Don't forget to initialize A and b

◆ BasicLinearFunction() [6/8]

tvm::function::BasicLinearFunction::BasicLinearFunction	(	int	m,
		const std::vector< VariablePtr > &	x
	)

Uninitialized version for a function of size m with multiple variables x1 ... xn Don't forget to initialize the Ai and b

◆ BasicLinearFunction() [7/8]

template<typename Derived >

tvm::function::BasicLinearFunction::BasicLinearFunction ( const utils::LinearExpr< Derived > & lin )

Initialization from a utils::LinearExpr. Meant to be used by operators in ProtoTasks.h

◆ BasicLinearFunction() [8/8]

template<typename CstDerived , typename... Derived>

tvm::function::BasicLinearFunction::BasicLinearFunction ( const utils::AffineExpr< CstDerived, Derived... > & aff )

Initialization from a utils::AffineExpr. Meant to be used by operators in ProtoTasks.h

Member Function Documentation

◆ A() [1/2]

virtual void tvm::function::BasicLinearFunction::A	(	const MatrixConstRef &	A,
		const tvm::internal::MatrixProperties &	p = `{}`
	)

virtual

Shortcut for when there is a single variable.

◆ A() [2/2]

virtual void tvm::function::BasicLinearFunction::A	(	const MatrixConstRef &	A,
		const Variable &	x,
		const tvm::internal::MatrixProperties &	p = `{}`
	)

virtual

Set the matrix A corresponding to variable x and optionally the properties p of A.

◆ b()

virtual void tvm::function::BasicLinearFunction::b	(	const VectorConstRef &	b,
		const tvm::internal::MatrixProperties &	p = `{}`
	)

virtual

Set the constant term b, and optionally its properties p.

The documentation for this class was generated from the following file:

include/tvm/function/BasicLinearFunction.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ BasicLinearFunction() [1/8]

◆ BasicLinearFunction() [2/8]

◆ BasicLinearFunction() [3/8]

◆ BasicLinearFunction() [4/8]

◆ BasicLinearFunction() [5/8]

◆ BasicLinearFunction() [6/8]

◆ BasicLinearFunction() [7/8]

◆ BasicLinearFunction() [8/8]

Member Function Documentation

◆ A() [1/2]

◆ A() [2/2]

◆ b()