Drake
 All Classes Files Functions Variables
Concatenated Class Reference

DrakeFunction representing the concatenation of n functions. More...

Inheritance diagram for Concatenated:
Collaboration diagram for Concatenated:

Public Member Functions

function Concatenated (fcns, same_input)
 obj = Concatenated(fcns, same_input) returns a DrakeFunction representing the concatenation of a given set of DrakeFunctions. More...
 
function eval (obj, x)
 
function setSparsityPattern (obj)
 [iCfun, jCvar] = getSparsityPattern(obj) returns the row and column indices of the potentially non-zero elements of this function's Jacobian. More...
 

Static Public Member Functions

static function computeNumberOfInputs (fcns, same_input)
 
static function computeNumberOfOutputs (fcns)
 

Public Attributes

Property contained_functions
 
Property n_contained_functions
 
Property same_input
 
Property index_map
 the contained function share the same input More...
 

Detailed Description

DrakeFunction representing the concatenation of n functions.

Implements either

\[ f(x) = \begin{bmatrix} f_1(x_1) \\ f_2(x_2) \\ \vdots \\ f_n(x_n) \end{bmatrix},\; \frac{df}{dx} = \begin{bmatrix} \frac{d f_1}{d x_1} & & & 0 \\ & \frac{d f_2}{d x_2} & & \\ & & \ddots & \\ 0 & & & \frac{d f_n}{d x_n} \end{bmatrix} \]

where \(x = (x_1, x_2, \dots, x_n)^\prime\) or

\[ f(x) = \begin{bmatrix} f_1(x) \\ f_2(x) \\ \vdots \\ f_n(x) \end{bmatrix},\; \frac{df}{dx} = \begin{bmatrix} \frac{d f_1}{d x} \\ \frac{d f_2}{d x} \\ \vdots \\ \frac{d f_n}{d x} \end{bmatrix} \]

Constructor & Destructor Documentation

function Concatenated ( fcns  ,
same_input   
)

obj = Concatenated(fcns, same_input) returns a DrakeFunction representing the concatenation of a given set of DrakeFunctions.

If same_input = true, the input to the concatenated function is passed to all of the component functions. Otherwise, the input to the concatenated function is split and distributed to the component functions.

obj = Concatenated(fcns) is the same as Concatenated(fcns,true).

Parameters
fcns– Cell array of DrakeFunction objects
same_input– Logical scalar
Return values
obj

Member Function Documentation

static function computeNumberOfInputs ( fcns  ,
same_input   
)
static
Return values
dim_input
static function computeNumberOfOutputs ( fcns  )
static
Return values
dim_output
function eval ( obj  ,
 
)
Return values
f
df
ddf
function setSparsityPattern ( obj  )

[iCfun, jCvar] = getSparsityPattern(obj) returns the row and column indices of the potentially non-zero elements of this function's Jacobian.

Parameters
obj– drakeFunction.Concatenated object
Return values
iCfun– Vector of row indices of the non-zeros
jCvar– Vector of column indices of the non-zeros

Member Data Documentation

Property contained_functions
Property index_map

the contained function share the same input

Property n_contained_functions
Property same_input

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