Drake
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 , x )
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:
• /home/ubuntu/workspace/linux-gcc-continuous-matlab-documentation/drake/matlab/solvers/+drakeFunction/Concatenated.m