#include <Function.h>

Inheritance diagram for Function_< T >::Linear:

Public Member Functions
	Linear (const RigidBodyDynamics::Math::VectorNd &coefficients)

T	calcValue (const RigidBodyDynamics::Math::VectorNd &x) const

T	calcDerivative (const std::vector< int > &derivComponents, const RigidBodyDynamics::Math::VectorNd &x) const

virtual int	getArgumentSize () const

int	getMaxDerivativeOrder () const

Public Member Functions inherited from Function_< T >
virtual	~Function_ ()

virtual T	calcValue (const RigidBodyDynamics::Math::VectorNd &x) const =0

virtual T	calcDerivative (const std::vector< int > &derivComponents, const RigidBodyDynamics::Math::VectorNd &x) const =0

virtual int	getArgumentSize () const =0

virtual int	getMaxDerivativeOrder () const =0

Private Attributes
const RigidBodyDynamics::Math::VectorNd	coefficients

Detailed Description

template<class T>
class RigidBodyDynamics::Addons::Geometry::Function_< T >::Linear

This is a Function_ subclass whose output value is a linear function of its arguments: f(x, y, ...) = ax+by+...+c.

Definition at line 183 of file Function.h.

Constructor & Destructor Documentation

◆ Linear()

Linear ( const RigidBodyDynamics::Math::VectorNd & coefficients )

inlineexplicit

Create a Function_::Linear object.

Parameters

coefficients The coefficients of the linear function. The number of arguments expected by the function is equal to coefficients.size()-1.
coefficients[0] is the coefficient for the first argument, coefficients[1] is the coefficient for the second argument, etc. The final element of coefficients contains the constant term.

Definition at line 195 of file Function.h.

Member Function Documentation

◆ calcDerivative()

T calcDerivative	(	const std::vector< int > &	derivComponents,
		const RigidBodyDynamics::Math::VectorNd &	x
	)		const

inlinevirtual

Calculate a partial derivative of this function at a particular point.
Which derivative to take is specified by listing the input components with which to take it. For example, if derivComponents=={0}, that indicates a first derivative with respective to component 0. If derivComponents=={0, 0, 0}, that indicates a third derivative with respective to component 0. If derivComponents=={4, 7}, that indicates a partial second derivative with respect to components 4 and 7.

Parameters

derivComponents	The input components with respect to which the derivative should be taken. Its size must be less than or equal to the value returned by getMaxDerivativeOrder().
x	The RigidBodyDynamics::Math::VectorNd of input arguments. Its size must equal the value returned by getArgumentSize().